@inproceedings{wang-botea-ijcai09,
author = {K.-H. C. Wang and A. Botea},
title = {{Tractable Multi-Agent Path Planning on Grid Maps}},
booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence IJCAI-09}, 
year = {2009}, 
pages = {1870--1875}, 
address = {Pasadena, CA, USA}
}