“…[1], [5], [8], [9], [15], [17], [18], [27], [28], [31], [37], [38], [39], [40], [44], [50], [56], [ Integration complexity 27 23 [5], [6], [17], [18], [32], [56], [58], [60], [65], [66] [16], [17], [25], [26], [30], [39], [41], [47], [48], [61], [66], [69], [80], [85] Task scheduling and execution 13 11 [4], [10], [22], [29], [36], [49], [51], [52] Step 1: decomposition of a complex-decision problem into a simple hierarchical structure.…”