“…Heterarchical 48 Baker (1992), Fox et al (1993), Lin and Solberg (1994), Daouas et al (1995), Saad et al (1995), Choi and Park (1997), Tharumarajah and Bemelman (1997), Fraile et al (1999), Gowdy and Rizzi (1999), Krothapalli and Deshmukh (1999), Heterarchical with coordinators 26 Maturana and Norrie (1995), Frost and Cutkosky (1996), Shehory and Kraus (1998), Sauter and Parunak (1999), Sun et al (1999) Hierarchical 4 Keilmann and Conen (1996), Golfarelli and Maio (1997), Bastos and Oliveira (1998) Modified hierarchical 12 Fisher et al (1993), Park et al (1994), Kouiss and Pierreval (1997) Holonic 10 Deen (1994), Biswas et al (1995), Kanchanasevee and Biswas (1997), Zhang and Norrie (1999) 112 M. Caridi and S. Cavalieri Table 4 reports the level of diffusion of the two main communications paradigms (i.e. message passing and blackboard) being adopted in the reviewed works.…”