Felner A, Li J, Boyarski E, Ma H, Cohen L, Kumar TKS, Koenig S. Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding. ICAPS [Internet]. 2018Jun.15 [cited 2024May12];28(1):83-7. Available from: https://ojs.aaai.org/index.php/ICAPS/article/view/13883