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An improved conflict⁃based search algorithm for multi⁃agent path planning
Lianbo YU, Pinzhao CAO, Liang SHI, Jie LIAN, Dong WANG
Acta Aeronautica et Astronautica Sinica . 2023, (S1): 727648 -727648 .  DOI: 10.7527/S1000-6893.2022.27648