@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},
}