Zhou, Shuai, Shizhe Zhao, and Zhongqiang Ren. “Loosely Synchronized Rule-Based Planning for Multi-Agent Path Finding With Asynchronous Actions”. Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 14 (April 11, 2025): 14763–14770. Accessed May 7, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/33618.