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iml130 · Oct 12, 2023 · 67c2a7d · 67c2a7d
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diff --git a/docs/optimaflow/introduction.md b/docs/optimaflow/introduction.md
@@ -26,10 +26,10 @@ OptiMaFlow, short for **Opti**mization of **Ma**terial **Flow**s, is responsible
 Managing the task assignment of an AMR presents challenges, as these problems are typically NP-hard. 
 The complexity makes finding efficient solutions difficult and computationally expensive.
 
-In OptiMaFlow, the cyber-space consists of Logical Agents [[4]](#references). 
+In OptiMaFlow, the cyber space consists of Logical Agents [[4]](#references). 
 Each AMR has its own Logical Agent responsible for managing its physical assets. 
 Additionally, there are Material Flow Logical Agents, which have no representation in the physical environment. 
-A Material Flow Logical Agent exists purely in the cyber-space and is responsible for securing the successful allocation and execution of a set of tasks.
+A Material Flow Logical Agent exists purely in the cyber space and is responsible for securing the successful allocation and execution of a set of tasks.
 All together, these Logical Agent communicate with each other to complete the material flow in a self-organized manner.
 To address the task assignment challenge, we have implemented both centralized and decentralized algorithms within OptiMaFlow.
 

diff --git a/docs/optimaflow/participants/amr.md b/docs/optimaflow/participants/amr.md
@@ -7,7 +7,7 @@ To function in a [cyber space](../introduction.md) every AMR has a [logical](#lo
 
 ## AMR Logical Agent
 
-The AMR Logical Agent is a smart participant in the [cyber-space](../introduction.md).
+The AMR Logical Agent is a smart participant in the [cyber space](../introduction.md).
 It communicates with other agents using the communication middleware to make intelligent decisions and manages the AMR's tasks.
 
 It has multiple components shown in the picture below and described in the following sections.

diff --git a/docs/optimaflow/participants/material_flow.md b/docs/optimaflow/participants/material_flow.md
@@ -1,9 +1,11 @@
 # Material Flow
 
 In OptiMaFlow, we utilize the [Material Flow Description Language (MFDL)](https://git.openlogisticsfoundation.org/silicon-economy/libraries/mfdl) to describe material flows in a declarative manner.
-A material flow is composed of a set of tasks. Each task consists of multiple orders that are assigned to a single AMR.
+A material flow is composed of a set of tasks. 
+Each task consists of multiple orders that are assigned to a single AMR.
 The transport order represents the process of picking up an item from location A and transporting it to a designated delivery location B.
 Additionally, there are move orders that specify the movement of the AMR within the warehouse, and action orders that describe specific actions such as loading and unloading.
+A task with all of its orders will always be assigned to a single AMR. 
 
 ## Material Flow Logical Agent