STERN, Roni et al. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 10, n. 1, p. 151–158, 2021. DOI: 10.1609/socs.v10i1.18510. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18510. Acesso em: 19 may. 2026.