Okumura, Keisuke, and Xavier Défago. “Solving Simultaneous Target Assignment and Path Planning Efficiently With Time-Independent Execution”. Proceedings of the International Conference on Automated Planning and Scheduling 32, no. 1 (June 13, 2022): 270–278. Accessed May 30, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/19810.