DisCoF+: Asynchronous DisCoF with flexible decoupling for cooperative pathfinding in distributed systems. - Kangjin Kim; Joe Campbell; William Duong; Yu Zhang; Georgios Fainekos (CASE, 2015)

DisCoF$^+$: Asynchronous DisCoF with Flexible Decoupling for Cooperative Pathfinding in Distributed Systems. - Kangjin Kim; Joe Campbell; William Duong; Yu Zhang; Georgios Fainekos (CoRR, 2015)