SU, Yifan; VEERAPANENI, Rishi; LI, Jiaoyang. Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Execution. Proceedings of the AAAI Conference on Artificial Intelligence, [S. l.], v. 38, n. 16, p. 17559–17566, 2024. DOI: 10.1609/aaai.v38i16.29706. Disponível em: https://ojs.aaai.org/index.php/AAAI/article/view/29706. Acesso em: 10 may. 2026.