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Jenkins has a built-in SSH client implementation that it can use to talk to remote sshd and start a slave agent. This is the most convenient and preferred method for Unix slaves, which normally has sshd out-of-the-box. Click Manage Jenkins, then Manage Nodes, then click "New Node." In this set up, you'll supply the connection information (the slave host name, user name, and ssh credential). Note that the slave will need the master's public ssh key copied to ~/.ssh/authorized_keys. (This is a decent howto if you need ssh help). Jenkins will do the rest of the work by itself, including copying the binary needed for a slave agent, and starting/stopping slaves. If your project has external dependencies (like a special ~/.m2/settings.xml, or a special version of java), you'll need to set that up yourself, though.

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\[Where is this documented?\]
This is the most convenient set up on Unix.