@article{SHARON201540,
title = "Conflict-based search for optimal multi-agent pathfinding",
journal = "Artificial Intelligence",
volume = "219",
number = "Supplement C",
pages = "40 - 66",
year = "2015",
issn = "0004-3702",
doi = "https://doi.org/10.1016/j.artint.2014.11.006",
url = "http://www.sciencedirect.com/science/article/pii/S0004370214001386",
author = "Guni Sharon and Roni Stern and Ariel Felner and Nathan R. Sturtevant",
keywords = "Heuristic search",
keywords = "Multi-agent",
keywords = "Pathfinding"
}