Coordination and Multi-Tasking Using EMT. - Zinovi Rabinovich; Nir Pochter; Jeffrey S. Rosenschein (AAAI, 2008)

Using swamps to improve optimal pathfinding. - Nir Pochter; Aviv Zohar; Jeffrey S. Rosenschein (AAMAS (2), 2009)

Search Space Reduction Using Swamp Hierarchies. - Nir Pochter; Aviv Zohar; Jeffrey S. Rosenschein; Ariel Felner (AAAI, 2010)

Pruning Techniques in Search and Planning. - Nir Pochter (AAAI, 2011)

Exploiting Problem Symmetries in State-Based Planners. - Nir Pochter; Aviv Zohar; Jeffrey S. Rosenschein (AAAI, 2011)