Pommerening, Florian, Gabriele Röger, Malte Helmert, Hadrien Cambazard, Louis-Martin Rousseau, and Domenico Salvagnin. 2019. “Lagrangian Decomposition for Optimal Cost Partitioning”. Proceedings of the International Conference on Automated Planning and Scheduling 29 (1):338-47. https://ojs.aaai.org/index.php/ICAPS/article/view/3496.