function assignment = assignHungarian(starts, goals)
    starts_x = starts(:,1);
    starts_y = starts(:,2);
    goals_x = goals(:,1);
    goals_y = goals(:,2);
    costMat = zeros(length(starts),length(goals));
    for i = 1:length(starts)
        for j = 1:length(goals)
            costMat(i,j) = (starts_x(i)-goals_x(j))^2 + (starts_y(i)-goals_y(j))^2;
        end
    end
    [assignment,cost] = munkres(costMat);
end

