Jur van den Berg, Jack Snoeyink, Ming C. Lin, Dinesh Manocha. Centralized path planning for multiple robots: Optimal decoupling into sequential plans. In Jeff Trinkle, Yoky Matsuoka, José A. Castellanos, editors, Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28 - July 1, 2009. The MIT Press, 2009. [doi]
Abstract is missing.