Li, Jiaoyang, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Kumar, and Sven Koenig. “Moving Agents in Formation in Congested Environments”. Proceedings of the International Symposium on Combinatorial Search 11, no. 1 (September 1, 2021): 131–132. Accessed May 7, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18525.