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In this paper we explore the problem of scheduling and allocation for asynchronous systems under latency, area, energy, and power constraints, and present exact methods for minimizing an implementation for either latency, area, or energy. This approach utilizes the the branch-and-bound strategy developed in , but targets a much more robust solution space by incorporating many-to-many mappings of operations to function units and energy and power considerations into the search space. Unlike many recent solutions that adapt synchronous methods to the asynchronous realm, our approach specifically targets the asynchronous domain. As a result, our solver's complexity and performance are independent of the discretization of time. We illustrate the effectiveness of this approach by running 36 different test cases on small and large input specifications; results are produced in 60 seconds or less for each example.