Implan: Scalable Incremental Motion Planning for Multi-Robot Systems,

I. Saha, R. Ramaithitima, V. Kumar, G. J. Pappas, and S. A. Seshia, “Implan: Scalable Incremental Motion Planning for Multi-Robot Systems,” in 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS), 2016, pp. 1-10.