@article{scalablemultirobotmotionplanningviahiera,
  title = {Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement},
  author = {Isaac Ngui and Courtney McBeth and James D. Motes and Marco Morales and Nancy M. Amato},
  year = {2026},
  eprint = {2605.20395},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.20395},
}