@conference {377, title = {Adding Heuristics to Conflict-Based Search for Multi-Agent Pathfinding}, booktitle = {International Conference on Automated Planning and Scheduling (ICAPS)}, year = {2018}, author = {Ariel Felner and Jiaoyang Li and Eli Boyarski and Hang Ma and Liron Cohen and T. K. Satish Kumar and Sven Keonig} }