Boyarski, E., Felner, A., Stern, R., Sharon, G., Betzalel, O., Tolpin, D., & Shimony, E. (2021). ICBS: The Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding. Proceedings of the International Symposium on Combinatorial Search, 6(1), 223–225. https://doi.org/10.1609/socs.v6i1.18343