YU, Jingjin; LAVALLE, Steven. Structure and Intractability of Optimal Multi-Robot Path Planning on Graphs. Proceedings of the AAAI Conference on Artificial Intelligence, [S. l.], v. 27, n. 1, p. 1443–1449, 2013. DOI: 10.1609/aaai.v27i1.8541. Disponível em: https://ojs.aaai.org/index.php/AAAI/article/view/8541. Acesso em: 9 may. 2026.