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| | Anytime and Efficient Coalition Formation with Spatial and Temporal ConstraintsEasyChair Preprint 3054, version history| Version | Date | Pages | Version notes | 
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 | 1 | March 26, 2020 | 17 |  |  | 2 | April 2, 2020 | 17 | Fixed an ambiguous notation. |  | 3 | April 15, 2020 | 17 | Renamed CFLA^+ to CFLA2 to avoid confusion with Amador's CFLA^+ (https://www.aaai.org/ocs/index.php/AAAI/AAAI14/paper/viewPaper/8500). |  | 4 | July 23, 2020 | 18 | Small addition, plus some typos fixed. |  | 5 | August 14, 2020 | 18 | Improved introduction and background sections. | 
Keyphrases: Agent Allocation, Max-Sum, RoboCup Rescue Simulation, XD [ST-MR-TA], anytime, autonomous agent, cfla algorithm, cluster based coalition formation, coalition formation, efficient, multi-agent system, multi-robot system, multiagent system, spatial and temporal constraints, task allocation, temporal constraint | 
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