@InProceedings{AAAI12-Sharon,
  author = {Guni Sharon, Roni Stern, Ariel Felner and Nathan Sturtevant},
  title = {Conflict-Based Search For Optimal Multi-Agent Path Finding},
  booktitle = {Proceedings of the Twenty-Sixth Conference on Artificial Intelligence (AAAI-12)},
  location = {Toronto, Ontario, Canada},
  month = {July},
  pages = {563--569},
  year = {2012}
}