@article{optimaltargetassignmentandpathfinding,
  title = {Optimal Target Assignment and Path Finding for Teams of Agents},
  author = {Hang Ma and Sven Koenig},
  year = {2016},
  eprint = {1612.05693},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1612.05693v1},
}