Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Sven Koenig.

AAAI Conference on Artificial Intelligence (AAAI), pages 6087-6095, 2019.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 184-185, 2019.

@inproceedings{ LiAAAI19symmetry,
  author    = "Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Hang Ma and Sven Koenig",
  title     = "Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding",
  booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
  pages     = "6087-6095",
  year      = "2019",
  doi       = "10.1609/aaai.v33i01.33016087",
}