Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding

Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma, Sven Koenig.
International Joint Conference on Artificial Intelligence (IJCAI), pages 442-449, 2019.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 182-183, 2019.
[bibtex] [publisher] [code] [poster] [slides]