Čapek, Martin, and Pavel Surynek. “DPLL(MAPF): An Integration of Multi-Agent Path Finding and SAT Solving Technologies”. Proceedings of the International Symposium on Combinatorial Search 12, no. 1 (July 21, 2021): 153–155. Accessed May 9, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18567.