This study tackles the problem of the coordination problem among constrained agents. Agents are constrained in different ways. First agents operate in a dynamic environment making difficult to plan and predict the agent`s future workload; second they cannot decide about their actions without interacting with other agents; third they operate with resources limitation. Resources limitation stem from agents having multiple tasks to perform and having bounded resources in which to perform them. Finally they are hierarchical: each agent uses the result of the other to improve gradually, with the local technique, the response quality of the task. This study presents a polynomial coordination algorithm for coalition formation based on a utility function so that to respond with a best quality possible in delay (bound optimally).
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