| Abstract | .... 2 | |
| 1 | Introduction | .... 2 |
| 2 | Task Allocation Problem | .... 3 |
| 3 | Overview of ITM | .... 3 |
| 4 | ITM-S | .... 5 |
| 5 | ITM-A | .... 8 |
| 6 | Application | .... 10 |
| 7 | Experimental Results | .... 10 |
| 8 | Conclusion | .... 12 |
| Acknowledgement | .... 12 | |
| References | .... 12 | |
| End | .... 13 |
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