Li, J., Tinka, A., Kiesel, S., Durham, J. W., Kumar, T. K. S., & Koenig, S. (2021). Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. Proceedings of the AAAI Conference on Artificial Intelligence, 35(13), 11272–11281. https://doi.org/10.1609/aaai.v35i13.17344