Wang, Ko-Hsin, Adi Botea, and Philip Kilby. “Solution Quality Improvements for Massively Multi-Agent Pathfinding”. Proceedings of the AAAI Conference on Artificial Intelligence 25, no. 1 (August 4, 2011): 1824-1825. Accessed April 24, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/8035.