@ARTICLE{chen2023multi,
  author={Chen, Yuda and Wang, Chenghan and Guo, Meng and  Li, Zhongkui},
  journal={IEEE Robotics and Automation Letters (RA-L)},
  title={Multi-Robot Trajectory Planning with Feasibility Guarantee and Deadlock Resolution: An Obstacle-Dense Environment},
  year={2023},
  }