@article{Hartmann2021TRO,
    title={Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly},
    author={Valentin N. Hartmann and Andreas Orthey and Danny Driess and Ozgur
      S. Oguz and Marc Toussaint},
    journal={IEEE Transactions on Robotics},
    year={2021},
    pdf={https://arxiv.org/pdf/2106.02489.pdf}
}