The newly agreed plan joint action executed

Figure 5.6 CPS framework

contract is being executed. The managers supply mostly task information and the contractor reports progress and the eventual result of the task. The negotiation process may recur if a contractor subdivides its task and awards contracts to other agents, for which it is the manager.

Stage 4: team action. The newly agreed plan of joint action is executed. By adhering to an agreed social convention, the agents maintain a close-knit relationship throughout.

Figure 5.7 Shifting Matrix Management (SMM): the nodes represent people [18]