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De Weerdt, M.M. (author), Bos, A. (author), Tonino, H. (author), Witteveen, C. (author)In a multi-agent system, agents are carrying out certain tasks by executing plans. Consequently, the problem of finding a plan, given a certain goal, has been given a lot of attention in the literature. Instead of concentrating on this problem, the focus of this paper is on cooperation between agents which already have constructed plans for...journal article 2003