Asín Achá, R., López, R., Hagedorn, S., & Baier, J. A. (2021). A New Boolean Encoding for MAPF and its Performance with ASP and MaxSAT Solvers. Proceedings of the International Symposium on Combinatorial Search, 12(1), 11–19. https://doi.org/10.1609/socs.v12i1.18546