Report copyright - 129 ' # '8& *#1 & 3 · U3, U4 P1, P2 Op2 Res1 Res2 U1 Mech1 Mech2 Mech3 Res3 Res5 Res9 Res10 Mech5 Mech4 Res6 Res7 Res8 Op4 U4 Op3 U3 Junction 1 U2 A2 Fig. 1. Hierarchic al multi-agent
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