Matteo Baldoni Cristina Baroglio Elisa Marengo Viviana Patti Claudio Schifanella Flexible choreography-driven service selection. 97-115 2012 6 Intelligenza Artificiale 1 https://doi.org/10.3233/IA-2012-0033 db/journals/ia/ia6.html#BaldoniBMPS12