Justin Melvin Pinar Keskinocak Sven Koenig Craig A. Tovey Banu Yuksel Ozkaya Multi-robot routing with rewards and disjoint time windows. 2332-2337 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399625 conf/iros/2007 db/conf/iros/iros2007.html#MelvinKKTO07