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B. Budig, and T. Dijk. Discovery Science
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D. Golovin, and A. Krause. (2010)cite arxiv:1003.3967Comment: 53 pages, 6 figures. Version 3 was a major revision, with an improved policy-centric exposition and much new material. Version 4 is a minor revision, mostly to elaborate on the proof of the min-cost cover results; see Theorem 37 and Lemma 38.