@inproceedings{barer2014suboptimal,
  title={Suboptimal variants of the conflict-based search algorithm for the multi-agent pathfinding problem},
  author={Barer, Max and Sharon, Guni and Stern, Roni and Felner, Ariel},
  booktitle={Seventh Annual Symposium on Combinatorial Search (SOCS-14)},
  year={2014},
  pages={19--27}
}