@article{wang-botea-jair11,
author = {K.-H. C. Wang and A. Botea},
title = {{MAPP: a Scalable Multi-Agent Path Planning Algorithm with Tractability and Completeness Guarantees}},
journal = {Journal of Artificial Intelligence Research JAIR},
year = {2011}, 
pages = {55--90}, 
volume = {42}
}