Asín Achá, Roberto, Rodrigo López, Sebastián Hagedorn, and Jorge A. Baier. 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.