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One of the well studied issues in multi-agent systems is the standard action-selection problem where a goal task can be performed in different ways, by different agents. Also the sequence of these actions can influence the goal achievement or its quality. This class of problems has been tackled under different approaches. At the high-level coordination one, the specification of the organizational issues is crucial. However, in dynamic environments, agents must be able to adapt to the changingdoi:10.1590/s0104-65002005000200005 fatcat:wxp5ptxr7fdfvd6kd626xolgbe