@article{tzafestas_1998,
author = "Tzafestas, E. and Ράπτης, Σπύρος and Tzafestas, S.",
journal = "The International Journal of Artificial Intelligence Tools",
number = "2",
pages = "163-187",
title = "{M}ulti-Agent {R}obot {A}rchitectures: {T}he {D}ecomposition {I}ssue and a {C}ase {S}tudy ",
url = "http://speech.ilsp.gr/synthesis/publications",
volume = "7",
year = "1998",
}