On the Complexity of Motion Planning for Multiple Independent Objects; PSPACE-Hardness of the ``Warehouseman's Problem''. Hopcroft, J. E., Schwartz, J. T., & Sharir, M. The International Journal of Robotics Research, 3(4):76–88, 1984.
doi  bibtex   
@article{journals/ijrr/HopcroftSS84,
	title         = {{On the Complexity of Motion Planning for Multiple Independent Objects; PSPACE-Hardness of the ``Warehouseman's Problem''}},
	author        = {Hopcroft, John E. and Schwartz, Jacob Theodore and Sharir, Micha},
	year          = {1984},
	journal       = {The International Journal of Robotics Research},
	volume        = {3},
	number        = {4},
	pages         = {76--88},
	doi           = {10.1177/027836498400300405}
}

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