@techreport {TR-1977-005,
   type = {Technical Report},
   author = {Arthur Farley},
   title = {The Coordination of Multiple Goal Satisfaction},
   institution = {University of Oregon, Computer and Information Sciences Department},
   number = TR-1977-005,
   year = ,
   note = {Available at \url{https://www.cs.uoregon.edu/Reports/TR-1977-005.pdf}},
}