“…There is a variety of policy frameworks: some with rich policy representations (Kagal, Finin, & Joshi, ; Sensoy, Norman, Vasconcelos, & Sycara, ; Uszok et al, ), and some targeting pervasive environments (Qwasmi & Liscano, ; Twidle, Dulay, Lupu, & Sloman, ; Zhu, Keoh, Sloman, & Lupu, ). However, they are either not scalable—e.g., to create and refine policy instances to large number of devices (Sensoy et al, )—or expressive enough to use high level concepts to describe devices and situations (Twidle et al, ).…”