Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma, Sven Koenig.

International Joint Conference on Artificial Intelligence (IJCAI), pages 442-449, 2019.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 182-183, 2019.

@inproceedings{ LiIJCAI19,
  author    = "Jiaoyang Li and Ariel Felner and Eli Boyarski and Hang Ma and Sven Koenig",
  title     = "Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding",
  booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
  pages     = "442-449",
  year      = "2019",
  doi       = "10.24963/ijcai.2019/63",
}