Chudý, Ján, and Pavel Surynek. “ESO-MAPF: Bridging Discrete Planning and Continuous Execution in Multi-Agent Pathfinding”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 18 (May 18, 2021): 16014–16016. Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/17997.