SEAR: A Polynomial-Time Expected Constant-Factor Optimal Algorithmic Framework for Multi-Robot Path Planning. - Shuai D. Han; Edgar J. Rodriguez; Jingjin Yu (CoRR, 2017)

SEAR: A Polynomial- Time Multi-Robot Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee. - Shuai D. Han; Edgar J. Rodriguez; Jingjin Yu (IROS, 2018)