@article{optimizeddirectedroadmapgraphformulti,
  title = {Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent},
  author = {Christian Henkel and Marc Toussaint},
  year = {2020},
  eprint = {2003.12924},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2003.12924v1},
}