Wang, Qian, Rishi Veerapaneni, Yu Wu, Jiaoyang Li, and Maxim Likhachev. 2024. “MAPF in 3D Warehouses: Dataset and Analysis”. Proceedings of the International Conference on Automated Planning and Scheduling 34 (1):623-32. https://doi.org/10.1609/icaps.v34i1.31525.