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108 Socially Intelligent Agents

they flexibly transfer autonomy rather than rigidly committing to initial deci-
sions, and they may change the coordination rather than taking risky actions in
uncertain states. We have implemented our ideas in the E-Elves system using
MDPs, and our AA implementation nows plays a central role in the successful
24/7 deployment of E-Elves in our group. Its success in the diverse tasks of
that domain demonstrates the promise that our framework holds for the wide
range of multi-agent domains for which AA is critical.

Acknowledgments
This research was supported by DARPA award No. F30602-98-2-0108 (Control of Agent-
Based Systems) and managed by ARFL/Rome Research Site.

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