@inproceedings{sharon2011pruning,
  title={Pruning techniques for the increasing cost tree search for optimal multi-agent pathfinding},
  author={Sharon, Guni and Stern, Roni Tzvi and Goldenberg, Meir and Felner, Ariel},
  booktitle={Fourth Annual Symposium on Combinatorial Search (SOCS 11)},
  year={2011},
  pages={150--157}
}