Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks

Roni Stern, Nathan Sturtevant, Ariel Felner, Sven Koenig, Hang Ma, Thayne T. Walker, Jiaoyang Li, Dor Atzmon, Liron Cohen, T. K. Satish Kumar, Eli Boyarski, Roman Barták.
Symposium on Combinatorial Search (SoCS), pages 151-159, 2019.

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