@article{Bayraktar2023RAL,
  title={Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces},
  author={Servet B. Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint,
    Lydia E. Kavraki},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  pdf={https://arxiv.org/pdf/2212.02955.pdf}
}