@ARTICLE{9171550,
  author={Liu, Zhe and Wang, Hesheng and Wei, Huanshu and Liu, Ming and Liu, Yun-Hui},
  journal={IEEE Transactions on Automation Science and Engineering}, 
  title={Prediction, Planning, and Coordination of Thousand-Warehousing-Robot Networks With Motion and Communication Uncertainties}, 
  year={2021},
  volume={18},
  number={4},
  pages={1705-1717},
  doi={10.1109/TASE.2020.3015110}}