WALKER, Thayne; CHAN, David; STURTEVANT, Nathan. Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding. Proceedings of the International Conference on Automated Planning and Scheduling, [S. l.], v. 27, n. 1, p. 316–324, 2017. DOI: 10.1609/icaps.v27i1.13814. Disponível em: https://ojs.aaai.org/index.php/ICAPS/article/view/13814. Acesso em: 25 may. 2026.