Title: Plan Execution by Contracting in a Multi­Agent Environment
Author: Bamshad Mobasher, John Collins, Corey Bilot, Rashmi Sundareswara, Joshua van Tonder, Maria Gini
Abstract: We present a computational model of planning, scheduling, and execution that is capable of supporting the interactions of a self­interested agent with other agents in a contracting environment over an extended period of time. The model 
is appropriate for situations in which a customer agent, in order to fulfill its goals, must contract with other supplier agents for all or part of the necessary tasks. The agents are assumed to be self­interested and with limited rationality. 
Supplier agents attempt to gain the greatest possible benefit, and customer agents will attempt to pay the lowest price. 
Full Paper: [postscript ]