Systems and methods are provided for scheduling objects having pair-wise and cumulative constraints. The systems and methods presented can utilize a directed acyclic graph to increase or maximize a utilization function. The objects can comprise satellites in a constellation of satellites. In some implementations, the satellites are imaging satellites, and the systems and methods for scheduling can use human collaboration to determine events of interest for acquisition of images. In some implementations, dominant edges are removed from the directed acyclic graph. In some implementations, dynamic weights are assigned to nodes associated with downlink events in the directed acyclic graph.