Conflict-based search for optimal multi-agent pathfinding

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Artificial Intelligence 219 (C):40-66 (2015)
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10.1016/j.artint.2014.11.006

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References found in this work

Depth-first iterative-deepening.Richard E. Korf - 1985 - Artificial Intelligence 27 (1):97-109.
Planning as heuristic search.Blai Bonet & Héctor Geffner - 2001 - Artificial Intelligence 129 (1-2):5-33.

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