Li, Minglong, Zhongxuan Cai, Wenjing Yang, Lixia Wu, Yinghui Xu, and Ji Wang. “Dec-SGTS: Decentralized Sub-Goal Tree Search for Multi-Agent Coordination”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 13 (May 18, 2021): 11282-11289. Accessed January 20, 2022. https://ojs.aaai.org/index.php/AAAI/article/view/17345.