@inproceedings{ijcai2015p110,
  title     = {ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding},
  author    = {Boyarski, Eli and Felner, Ariel and Stern, Roni and Sharon, Guni and Tolpin, David and Betzalel, Oded and Shimony, Solomon Eyal},
  booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-15}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Qiang Yang and Michael Wooldridge},
  pages     = {740--745},
  year      = {2015},
  month     = {7},
  note      = {Main Track},
  url       = {https://ijcai.org/proceedings/2015/110},
}