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

Jiaoyang Li, Eli Boyarski, Ariel Felner, Hang Ma and 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.
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