Cost-based dynamic reconfiguration system for intelligent agent negotiation

Autonomous, highly distributed control architectures are composed of a significant number of agents that can reason and act on behalf of represented processes or artifacts in a coordinated manner. Depending on the social organization capabilities of the agents, the autonomous system could evolve into complex agent organizations called temporal holarchies. Cost-based negotiation supports the holarchy formation. Dynamic hierarchical teamworks architecture of middle-agents is described to increase robustness of the architecture.