LEET, C.; LI, J.; KOENIG, S. Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees. Proceedings of the AAAI Conference on Artificial Intelligence, [S. l.], v. 36, n. 9, p. 9386-9395, 2022. DOI: 10.1609/aaai.v36i9.21170. Disponível em: https://ojs.aaai.org/index.php/AAAI/article/view/21170. Acesso em: 23 apr. 2024.