@article{SHARON2013470,
title = "The increasing cost tree search for optimal multi-agent pathfinding",
journal = "Artificial Intelligence",
volume = "195",
number = "Supplement C",
pages = "470 - 495",
year = "2013",
issn = "0004-3702",
doi = "https://doi.org/10.1016/j.artint.2012.11.006",
url = "http://www.sciencedirect.com/science/article/pii/S0004370212001543",
author = "Guni Sharon and Roni Stern and Meir Goldenberg and Ariel Felner",
keywords = "Heuristic search",
keywords = "Multi-agent pathfinding"
}