Zhang, Han, Jiaoyang Li, Pavel Surynek, Sven Koenig, and T. K. Satish Kumar. “Multi-Agent Path Finding With Mutex Propagation”. Proceedings of the International Conference on Automated Planning and Scheduling 30, no. 1 (June 1, 2020): 323-332. Accessed April 18, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/6677.