@inproceedings{ren21ms,
  title={Ms*: A new exact algorithm for multi-agent simultaneous multi-goal sequencing and path finding},
  author={Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={11560--11565},
  year={2021},
  organization={IEEE}
}