@INPROCEEDINGS{mitchell2019icra,
  author={Mitchell, Derek and Michael, Nathan},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  title={Persistent Multi-Robot Mapping in an Uncertain Environment},
  year={2019},
  volume={},
  number={},
  pages={4552-4558},
  doi={10.1109/ICRA.2019.8794469}}