Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Satish Kumar, Sven Koenig.

International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 726-734, 2020.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 131-132, 2020.

@inproceedings{ LiAAMAS20,
  author    = "Jiaoyang Li and Kexuan Sun and Hang Ma and Ariel Felner and T. K. Satish Kumar and Sven Koenig",
  title     = "Moving Agents in Formation in Congested Environments",
  booktitle = "Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)",
  pages     = "726-734",
  year      = "2020",
  doi       = "",
}