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An Analysis of Map-Based Abstraction and Refinement., and . SARA, volume 4612 of Lecture Notes in Computer Science, page 344-358. Springer, (2007)A new approach to cooperative pathfinding., and . AAMAS (3), page 1401-1404. IFAAMAS, (2008)Direction Maps for Cooperative Pathfinding., and . AIIDE, The AAAI Press, (2008)