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Glenn Wagner, Howie Choset. Subdimensional expansion for multirobot path planning. Artificial Intelligence, 219:1-24, 2015. [doi]

The following publications are possibly variants of this publication:

Subdimensional Expansion: A Framework for Computationally Tractable Multirobot Path PlanningGlenn Wagner. PhD thesis, Carnegie Mellon University, USA, 2018. [doi]

Probabilistic path planning for multiple robots with subdimensional expansionGlenn Wagner, Minsu Kang, Howie Choset. icra 2012: 2886-2892 [doi]

Subdimensional Expansion for Multi-Objective Multi-Agent Path FindingZhongqiang Ren, Sivakumar Rathinam, Howie Choset. ral, 6(4):7153-7160, October 2021. [doi]

Subdimensional Expansion and Optimal Task ReassignmentGlenn Wagner, Howie Choset, Nora Ayanian. socs 2012: 177-178 [doi]

M*: A complete multirobot path planning algorithm with performance boundsGlenn Wagner, Howie Choset. iros 2011: 3260-3267 [doi]

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