@inproceedings{Rahmattalabi2016dplusplus,
  author={Rahmattalabi, Aida and Chung, Jen Jen and Colby, Mitch and Tumer, Kagan},
  title={D++: Structural credit assignment in tightly coupled multiagent domains},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2016},
  pages={4424--4429},
  doi={10.1109/IROS.2016.7759651},
  URL={https://doi.org/10.1109/IROS.2016.7759651}
}