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In this paper, the authors present and evaluate a modified Ant Colony Optimization (ACO) approach for the precedence and resource-constrained multiprocessor scheduling problems. A modified ant colony system is proposed to solve the scheduling problems. A two-dimensional matrix is proposed in this study for assigning jobs on processors, and it has a time-dependency relation structure. The dynamic rule is designed to modify the latest starting time of jobs and hence the heuristic function. In exploration of the search solution space, this investigation proposes a delay solution generation rule to escape the local optimal solution.