@article{suboptimalmultiphasepathplanninga,
  title = {Sub-Optimal Multi-Phase Path Planning: A Method for Solving Rubik's Revenge},
  author = {Jared Weed},
  year = {2016},
  eprint = {1601.05744},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1601.05744v1},
}