KHORSHID, Mokhtar; HOLTE, Robert; STURTEVANT, Nathan. A Polynomial-Time Algorithm for Non-Optimal Multi-Agent Pathfinding. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 2, n. 1, p. 76–83, 2021. DOI: 10.1609/socs.v2i1.18205. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18205. Acesso em: 9 may. 2026.