Error 29181 failed to execute 'AgentAssignment'

Started seeing this error at ~6:30 AM, and it pops up in SCOM event log on every management server every 7-12 minutes since.  I can't find anything that pertains in any web searches.

OpsMgr Management Configuration Service failed to execute 'AgentAssignment' engine work item due to the following exception

Microsoft.EnterpriseManagement.Common.DataItemDoesNotExistException: 4a0df0b2-c489-9819-14f9-65a2926400d2
   at Microsoft.EnterpriseManagement.DataAccessLayer.EntityKeyValuePairCache.GetManagedEntityKeyValuePairs(Guid baseManagedEntityId, DatabaseConnection databaseConnection)
   at Microsoft.EnterpriseManagement.DataAccessLayer.EntityKeyValuePairCache.GetKeyValuePairs(Guid baseManagedEntityId, DatabaseConnection databaseConnection)
   at Microsoft.EnterpriseManagement.ManagementConfiguration.CmdbOperations.RelationshipDiscoveriesContainer.AddRelationshipInstance(Guid sourceEntityId, Guid sourceEntityTypeId, Guid targetEntityId, Guid targetEntityTypeId, IDictionary`2 properties)
   at Microsoft.EnterpriseManagement.ManagementConfiguration.CmdbOperations.RelationshipDiscoveriesContainer.AddRelationshipInstance(Guid sourceEntityId, Guid sourceEntityTypeId, Guid targetEntityId, Guid targetEntityTypeId)
   at Microsoft.EnterpriseManagement.ManagementConfiguration.Engine.AgentAssignmentWorkItem.SendDiscoveries(IEnumerable`1 diffActionsList, IRelationshipDiscoveriesContainer toAddDiscoveriesContainer, IRelationshipDiscoveriesContainer toDeleteDiscoveriesContainer)
   at Microsoft.EnterpriseManagement.ManagementConfiguration.Engine.AgentAssignmentWorkItem.ExecuteSharedWorkItem()
   at Microsoft.EnterpriseManagement.ManagementConfiguration.Interop.SharedWorkItem.ExecuteWorkItem()
   at Microsoft.EnterpriseManagement.ManagementConfiguration.Interop.ConfigServiceEngineWorkItem.Execute()

Any help would be appreciated.  Thanks.