1. Erdmann M, Lozano-Perez T. On multiple moving objects. Algorithmica 1987;2(1-4):477.
2. Ghrist R, O’Kane JM, LaValle SM. Computing pareto optimal coordinations on roadmaps. IJRR 2005;24(11):997–1010.
3. LaValle SM, Hutchinson S. Optimal motion planning for multiple robots having independent goals. IEEE TRA 1998;14(6):912–925.
4. Peng J, Akella S. Coordinating multiple robots with kinodynamic constraints along specified paths. IJRR 2005;24(4):295–310.
5. van den Berg J, Overmars M. Prioritized motion planning for multiple robots. IROS; 2005. p. 430–435.