tion, the proposed approach allows concurrent nego-
tiations among providers of the same and the different
services required in the composition, making the ne-
gotiation time independent from the number of both
abstract services in the composition, and of service
providers for each abstract service, that is a crucial
requirement in service oriented scenarios.
ACKNOWLEDGEMENTS
This work has been partially supported by the Ital-
ian Ministry of Education University and Research
within the PRIN 2015 Project “Profiling and Adap-
tation for User-centered Assistive Robotics” (Ref.
2015KBL78T).
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