@INPROCEEDINGS{ren22cbss, 
    AUTHOR    = {Zhongqiang Ren AND Sivakumar Rathinam AND Howie Choset}, 
    TITLE     = {{Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2022}, 
    ADDRESS   = {New York City, NY, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2022.XVIII.058} 
}