Barták, Roman, and Jiří Švancara. “On SAT-Based Approaches for Multi-Agent Path Finding With the Sum-of-Costs Objective”. Proceedings of the International Symposium on Combinatorial Search 10, no. 1 (September 1, 2021): 10–17. Accessed May 27, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18497.