@article{jiang2019multi,
  title={Multi-robot planning with conflicts and synergies},
  author={Jiang, Yuqian and Yedidsion, Harel and Zhang, Shiqi and Sharon, Guni and Stone, Peter},
  journal={Autonomous Robots},
  volume={43},
  number={8},
  pages={2011--2032},
  year={2019},
  publisher={Springer},
  doi={10.1007/s10514-019-09848-1},
  url={https://doi.org/10.1007/s10514-019-09848-1}
}