Guni Sharon, Roni Stern, Ariel Felner, Nathan R. Sturtevant. Conflict-Based Search For Optimal Multi-Agent Path Finding. In Jörg Hoffmann, Bart Selman, editors, Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence, July 22-26, 2012, Toronto, Ontario, Canada. pages 563-569, AAAI Press, 2012. [doi]
Abstract is missing.