@inproceedings{ma2016multi,
title={Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem},
pages={3166--3173},
volume={30},
url={https://ojs.aaai.org/index.php/AAAI/article/view/10409},
number={1},
journal={Proceedings of the 30th AAAI Conference on Artificial Intelligence (AAAI-16)},
author={Ma, Hang and Tovey, Craig and Sharon, Guni and Kumar, T. K. and Koenig, Sven},
year={2016},
month={Mar.}
}