“…TDG is a Direct Acyclic Graph (DAG) where the nodes represent the tasks that need to be performed and the links represent the interrelationships between tasks. Our formal full formal definition of the TDG is presented in [8], the following summary is presented to help the reader to understand the discussion on this paper: Definition 1. A task t is a tuple of the form (u, n, y, s, o) where: U is a set of unique IDs and u U ∈ , N is a set of locations at which a task must be performed and n N ∈ , Y is a set of task types, which is {Primitive, Compound} and y Y ∈ , S is a set of task statuses, which is {Completed, Pending, InProgress, Failed, Aborted, Assigned}, O is a set of functions that a task will execute and o O ∈ A task has a status Completed when it has been successfully executed, Pending when it has not been executed nor assigned to any agent, InProgress when it is being executed, Failed when it has failed being executed, Aborted when it is stop in the middle of execution and Assigned when it has been assigned to an agent but the agent has not started the execution.…”