@Article{Banfi2022RAL, author = {J. Banfi and A. Messing and C. Kroninger and E. Stump and S. Hutchinson and N. Roy}, title = {Hierarchical planning for heterogeneous multi-robot routing problems via learned subteam performance}, journal = {IEEE Robotics and Automation Letters}, year = {2022}, volume = {7}, number = {2}, pages = {4464-4471}, }