T. H. Liu, K. S. Barber
A Multi-Agent System can be seen as a group of entities interacting to achieve individual or collective goals. In the past two decades, researchers have developed various MAS architectures, one being the Sensible Agent (SA) model (Barber 1996). Because one specific level of autonomy is not suitable for all situations in dynamic environments, SAs are equipped with the capability to reason about and switch among levels of autonomy. Typical autonomy levels (which are assigned to goals instead of agents) include: command-driven, master, consensus, and locally autonomous.