@ARTICLE{corah2019ral,
  author={Corah, Micah and O’Meadhra, Cormac and Goel, Kshitij and Michael, Nathan},
  journal={IEEE Robotics and Automation Letters},
  title={Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments},
  year={2019},
  volume={4},
  number={2},
  pages={1715-1721},
  doi={10.1109/LRA.2019.2897368}}