@article{Gordon2018, author = "Geoffrey J. Gordon and Pradeep Varakantham and William Yeoh and Hong Chuin Lao and Ajay S. Aravamudhan and Shih-Fen Cheng", title = "{Lagrangian Relaxation for Large-Scale Multi-Agent Planning}", year = "2018", month = "6", url = "https://kilthub.cmu.edu/articles/journal_contribution/Lagrangian_Relaxation_for_Large-Scale_Multi-Agent_Planning/6475835", doi = "10.1184/R1/6475835.v1" }