@Article{LIS255,
title = {Modeling and Planning with Macro-Actions in Decentralized POMDPs},
author = {Christopher Amato and George Konidaris and Leslie Pack Kaelbling and Jonathan P. How},
year = {2019},
url = {http://lis.csail.mit.edu/pubs/amato-konidaris-jair19.pdf},
journal = {Journal of Artificial Intelligence Research},
volume = {64},
pages = {817--859},
}