  This paper describes the heuristics used by the Shadoks team for the CG:SHOP
2021 challenge. This year's problem is to coordinate the motion of multiple
robots in order to reach their targets without collisions and minimizing the
makespan. Using the heuristics outlined in this paper, our team won first place
with the best solution to 202 out of 203 instances and optimal solutions to at
least 105 of them.
