@article{msanewexactalgorithmformultiagent,
  title = {MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding},
  author = {Zhongqiang Ren and Sivakumar Rathinam and Howie Choset},
  year = {2021},
  eprint = {2103.09979},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.09979v1},
}