Li, Jiaoyang, Graeme Gange, Daniel Harabor, Peter Stuckey, Hang Ma, and Sven Koenig. “New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding”. Proceedings of the International Symposium on Combinatorial Search 11, no. 1 (September 1, 2021): 129–130. Accessed May 7, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18524.