, A.; SAHA, I. It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems. Proceedings of the International Conference on Automated Planning and Scheduling, [S. l.], v. 32, n. 1, p. 2-10, 2022. DOI: 10.1609/icaps.v32i1.19779. Disponível em: https://ojs.aaai.org/index.php/ICAPS/article/view/19779. Acesso em: 4 feb. 2023.