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A composite Web service is an umbrella structure aggregating multiple other elementary and composite Web services, which interact with each other according to a process model. This paper presents a planning agent proposal for semantic Web services composition in which a service composition plan is constructed in an incremental way. Based on the Web service quality model, service selection is formulated as an optimization problem which can be solved using efficient linear programming methods. A novel multi-agent based semantic Web service composition approach has been presented, which deals with some of the important issues in composition process.