“…However, current work has generally focused on disjoint coalitions [2,9,27,29,32,39,41]. That is, after a coalition is formed, every agent which has joined that coalition is no longer available to join other coalitions, and if the combined resources of all agents in that coalition are more than the resources required to complete its corresponding task, it may be inevitable that the surplus resources which can be very costly will be uselessly wasted [38].…”