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This paper studies the streaming of packetized media from multiple servers to a client over a lossy network. In particular, we propose a client-driven rate-distortion optimal packet scheduling algorithm that decides which packet(s) to be requested from which server(s) at a given request opportunity. In doing so, the proposed scheduling algorithm not only attains the maximal presentation quality but also conforms to the rate constraints dictated by the flow, window and congestion control mechanisms. The simulation results clearly demonstrate the efficacy of the proposed algorithm over the single-server rate-distortion optimized streaming.