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  1. Solving simultaneous target assignment and path planning efficiently with time-independent execution.Keisuke Okumura & Xavier Défago - 2023 - Artificial Intelligence 321 (C):103946.
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  • Priority inheritance with backtracking for iterative multi-agent path finding.Keisuke Okumura, Manao Machida, Xavier Défago & Yasumasa Tamura - 2022 - Artificial Intelligence 310 (C):103752.
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  • Conflict-based search for optimal multi-agent pathfinding.Guni Sharon, Roni Stern, Ariel Felner & Nathan R. Sturtevant - 2015 - Artificial Intelligence 219 (C):40-66.
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