Problem: Multi-agent coordination is an important issue in the domain of disaster emergency response operations where a team of agents (field units or robots) aims to achieve a joint objective. The responsibility of the Incident Commander (IC) is to (I) specify an effective strategy composed of a number of threads (a set of prioritized sub-problems), (II) appropriately assign/allocate agents to these threads as a strategic decision, and (III) release agents in a timely manner from the assigned t