@inproceedings{boyrasky2015don, title={Don't Split, Try To Work It Out: Bypassing Conflicts in Multi-Agent Pathfinding.}, author={Boyrasky, Eli and Felner, Ariel and Sharon, Guni and Stern, Roni}, booktitle={The 25th International Conference on Automated Planning and Scheduling (ICAPS 15)}, pages={47--51}, year={2015} }