Moving Agents in Formation in Congested Environments

Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Satish Kumar and Sven Koenig.
International Joint Conference on Autonomous Agents and Mult-Agent Systems (AAMAS), pages 726-734, 2020.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 131-132, 2020.
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formation-random formation-tight formation-wide