Meneguzzi, FelipeMagnaguagno, Mauricio C.Singh, Munindar P.Telang, Pankaj R.Yorke-Smith, Neil2024-03-212024-03-212018-04-21Meneguzzi, F, Magnaguagno, M C, Singh, M P, Telang, P R & Yorke-Smith, N 2018, 'GoCo: planning expressive commitment protocols', Autonomous Agents and Multi-Agent Systems, vol. 32, pp. 459-502. https://doi.org/10.1007/s10458-018-9385-01387-2532ORCID: /0000-0003-3549-6168/work/43852783https://hdl.handle.net/2164/23088Acknowledgements We gratefully thank those who shared their code with us. Special thanks to Ugur Kuter. We thank the anonymous reviewers, and also acknowledge with gratitude the reviewers at ProMAS’11, AAMAS’13, AAAI’13, and AAMAS’15, where preliminary parts of this work appeared. FM thanks the Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) for the support within process numbers 306864/2013-4 under the PQ fellowship and 482156/2013-9 under the Universal project programs. NYS acknowledges support of the AUB University Research Board Grant Number 102853 and the OSB Grant OFFER_C1_2013_2014.441355415engCommitment protocolsIntelligent agentsUncertaintyGoal reasoningHTN planningNon-determinismA General WorksAJournal article10.1007/s10458-018-9385-0https://doi.org/10.1007/s10458-018-9385-032