@inproceedings{sharon2012meta,
  title={Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding.},
  author={Sharon, Guni and Stern, Roni and Felner, Ariel and Sturtevant, Nathan R},
  booktitle={Fourth Annual Symposium on Combinatorial Search (SOCS 12)},
  volume={1},
  pages={39--40},
  year={2012}
}