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In this paper, we tackle the problem of minimizing the power consumption of multiple-processors-core system using multiple variable supply voltages. Given a set of tasks and their dependency, and a set of target processors, we propose a method which carries out task allocation on processors, task scheduling and voltage assignment for each task concurrently. The problem is formulated as a mixed integer nonlinear programming (MINLP) optimization problem and optimal solution can be obtained. The MINLP problem is solved by the branch and bound algorithm. To reduce the run time, we propose two modifications of the formulation. Experimental results show that significant power reduction is achieved using the proposed approach.