Push and rotate: cooperative multi-agent path planning
PSPACE-Completeness of Sliding-Block Puzzles and Other Problems through the Nondeterministic Constraint Logic Model of Computation
A Formal Basis for the Heuristic Determination of Minimum Cost Paths
Finding a Shortest Solution for the N × N Extension of the 15-PUZZLE Is Intractable
Complete Algorithms for Cooperative Pathfinding Problems
MAPP: a Scalable Multi-Agent Path Planning Algorithm with Tractability and Completeness Guarantees