# Combining reward shaping and hierarchies for scaling to large multiagent systems

> Research article (The Knowledge Engineering Review, 2016) · cited 14× · AI/ML

**Wikidata**: [openalex:W2572491855](https://www.wikidata.org/wiki/openalex:W2572491855)  
**Source**: https://4ort.xyz/entity/combining-reward-shaping-and-hierarchies-for-scaling-to-large-multiagent-systems