Okumura, Keisuke, Yasumasa Tamura, and Xavier Défago. “Time-Independent Planning for Multiple Moving Agents”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 13 (May 18, 2021): 11299-11307. Accessed September 15, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/17347.