Li, Jiaoyang, Graeme Gange, Daniel Harabor, Peter J. Stuckey, Hang Ma, and Sven Koenig. “New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding”. Proceedings of the International Conference on Automated Planning and Scheduling 30, no. 1 (June 1, 2020): 193-201. Accessed July 22, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/6661.