@article{mixedintegerprogrammingfortimeoptimal,
  title = {Mixed Integer Programming for Time-Optimal Multi-Robot Coverage Path Planning with Efficient Heuristics},
  author = {Jingtao Tang and Hang Ma},
  year = {2023},
  eprint = {2306.17609},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.17609v2},
}