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Minimum number of unit fractions to sum up a given positive rational

For any positive $p,q\in\mathbb{N}$ there is a finite subset $S$ of $\{\frac{1}{n}:n\in\mathbb{N}, n\geq 1\}$ such that $\sum_{s\in S} s=\frac{p}{q}$. Let $m(p,q)$ denote the minimal cardinality of such a set $S$. Is there a polynomial-time algorithm to determine $m(p,q)$?