Map Partitioning for Accelerated Routing: Measuring Relation Between Tiled and Routing Partitions. - Maximilian Adam; Natalia Kliewer; Felix König (OR, 2015)

Multi Robot Route Planning (MRRP): Extended Spatial-Temporal Prioritized Planning. - Benjamin Binder 002; Florian Beck; Felix König; Markus Bader (IROS, 2019)