Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding

Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 6087-6095, 2019.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 184-185, 2019.
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