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Optimization Techniques for Task Allocation and Scheduling in Distributed Multi-Agent Operations By Mark F. Tompkins Submitted to the Department of Electrical Engineering and Computer Science on May 21, 2003, in partial fulfillment of the requirements for the degree of Master of Engineering in Computer Science Abstract

https://dspace.mit.edu/bitstream/handle/1721.1/16974/53816027-MIT.pdf?sequence=2

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