Dear Dr Ian Peterson,

Enclosed is a manuscript entitled "Incremental Scheduling of Discrete Event Systems" to be consider for publication in Automatica.

We confirm that this work is original and has not been published elsewhere nor is it currently
under consideration for publication elsewhere. It is an enhanced version of the conference paper
”Incremental Scheduling of Discrete Event Systems” which appeared at the thirteenth International Workshop on Discrete Event Systems 2016. The work is improved upon by introducing a new method for further optimizing a plan
once it is found. 
The paper shows how a multi-robot motion-planning problem modeled as a ”Time Weighted System” can be
controlled so as to ensure that all the systems tasks are completed in a minimal amount of time.
The
algorithm is tested in a variety of environments, with varying numbers of robots.
Please address all correspondence concerning this manuscript to me at sware@ntu.edu.sg.
Sincerely,
Simon Ware
School of Electronic and Electrical Engineering
Nanyang Technological University
50 Nanyang Avenue
Singapore, 639798