@ARTICLE{ren23cbssTRO,
  author={Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal={IEEE Transactions on Robotics}, 
  title={CBSS: A New Approach for Multiagent Combinatorial Path Finding}, 
  year={2023},
  volume={39},
  number={4},
  pages={2669-2683},
  doi={10.1109/TRO.2023.3266993}
}