“…In contrast, in the current paper, we take the number of agents (i.e., the organizational structure) as given and we consider the optimal choice between the concurrent and sequential development strategies under probabilistic task completion. There are papers in the economics literature that consider probabilistic task completion, some of which focus exclusively on the sequential development strategy (e.g., Green and Taylor 2016, Mason and Välimäki 2015, Pi 2014, Schmitz 2005, Schmitz 2013, Tamada and Tsai 2007, Winter 2006, and Altan 2019), while others focus on the concurrent development strategy (e.g., Bond and Gomes 2009, MacDonald and Marx 2001, and Balmaceda 2016). Finally, other papers from the economics literature (e.g., Chen and Chiu 2013 and Iossa and Martimort 2012) consider tasks that must be completed sequentially, but without probabilistic task completion, where the tasks interact to determine the principal's payoff (e.g., there are externalities such that increased effort on one task may make effort on subsequent tasks more or less effective or efficient).…”