Li, Jiaoyang, Andrew Tinka, Scott Kiesel, Joseph W. Durham, T. K. Satish Kumar, and Sven Koenig. 2021. “Lifelong Multi-Agent Path Finding in Large-Scale Warehouses”. Proceedings of the AAAI Conference on Artificial Intelligence 35 (13):11272-81. https://doi.org/10.1609/aaai.v35i13.17344.