@inproceedings{boyarski2015icbs,
  title={ICBS: The improved conflict-based search algorithm for multi-agent pathfinding},
  author={Boyarski, Eli and Felner, Ariel and Stern, Roni and Sharon, Guni and Betzalel, Oded and Tolpin, David and Shimony, Eyal},
  booktitle={Twenty-Fourth International Joint Conference (IJCAI 15)},
  year={2015},
  pages={740--746}
}