View source for Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem

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Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem Hang Ma, Craig Tovey, Guni Sharon, T. K. Satish Kumar, Sven Koenig
https://dl.acm.org/citation.cfm?id=3016346 

===Summary===
This paper looks into a way to minimize the time it takes for all packages within a set to be delivered, working with the following model of the world: each robot caries one package, 2 adjacent robots can exchange their packages and each package needs to be delivered at a certain destination. The model especially studies the amount of robots best to employ for a given set of packages.