Marius-Calin Silaghi Makoto Yokoo ADOPT-ing: unifying asynchronous distributed optimization with asynchronous backtracking. 89-123 2009 19 Autonomous Agents and Multi-Agent Systems 2 http://dx.doi.org/10.1007/s10458-008-9069-2 db/journals/aamas/aamas19.html#SilaghiY09