Li, Jiaoyang, Wheeler Ruml, and Sven Koenig. “EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 14 (May 18, 2021): 12353–12362. Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/17466.