@inproceedings{ijcai2007p323,
  title     = {Graph Decomposition for Efficient Multi-Robot Path Planning},
  author    = {Ryan, Malcolm},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {2003--2007},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/323},
}