@inproceedings{Rahmattalabi2016dpp,
  author={Rahmattalabi, Aida and Chung, Jen Jen and Tumer, Kagan},
  title={D++: Structural credit assignment in tightly coupled multiagent domains},
  booktitle={Proceedings of the 2016 Robotic Science and Systems Workshop on On-line Decision Making in Multi-robot Coordination},
  year={2016},
  URL={http://robotics.fel.cvut.cz/demur16/wp-content/uploads/2016/06/demur16-rahmattalabi-chung-tumer.pdf}
}