@article{constrainedenvironmentoptimizationfor,
  title = {Constrained Environment Optimization for Prioritized Multi-Agent Navigation},
  author = {Zhan Gao and Amanda Prorok},
  year = {2023},
  eprint = {2305.11260},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.11260v1},
}