Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks. - Rishi Veerapaneni; Alvin Tang; Haodong He; Sophia Zhao; Viraj Shah; Yidai Cen; Ziteng Ji; Gabriel Olin; Jon Arrizabalaga; Yorai Shaoul; Jiaoyang Li 001; Maxim Likhachev (CoRR, 2025)