A Hierarchical Approach to Multi-Agent Path Finding. Zhang, H., Yao, M., Liu, Z., Li, J., Terr, L., Chan, S., Thittamaranahalli, S., & Koenig, S. Proceedings of the ICAPS-2021 Hierarchical Planning Workshop (HPlan-2021), 2021.
bibtex   
@article{tksk07,
author={Han Zhang and Mingze Yao and Ziang Liu and Jiaoyang Li and Lucas Terr and Shao-Hung Chan and Satish Thittamaranahalli and Sven Koenig},
title={A Hierarchical Approach to Multi-Agent Path Finding},
journal={Proceedings of the ICAPS-2021 Hierarchical Planning Workshop (HPlan-2021)},
year={2021}
}

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