X*: Anytime Multi-Agent Path Finding for Sparse Domains using Window-Based Iterative Repairs

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Artificial Intelligence 291 (C):103417 (2021)
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10.1016/j.artint.2020.103417

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Truncated incremental search.Sandip Aine & Maxim Likhachev - 2016 - Artificial Intelligence 234 (C):49-77.

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