Ren, Zhongqiang, Sivakumar Rathinam, and Howie Choset. “Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding [Extended Abstract]”. Proceedings of the International Symposium on Combinatorial Search 16, no. 1 (July 2, 2023): 181–182. Accessed May 25, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/27304.