I. Introduction
The multiagent approach has been investigated as an effective paradigm to develop complex and interaction-centric systems [1], [2], [3]. Multiagent systems are based on the metaphor of a set of autonomous entities, called agents, which interact with each other through complex protocols and declarative communication languages [4]. Several kinds of applications with strong interaction features have been developed using the multiagent approach, including multi-robot environments [5], cooperating Internet agents [6], logistics [7], and manufacturing systems [8], among others.