@article{certificatedrivenclosedloopmultiagentpat,
  title = {Certificate-Driven Closed-Loop Multi-Agent Path Finding with Inheritable Factorization},
  author = {Jiarui Li and Runyu Zhang and Gioele Zardini},
  year = {2026},
  eprint = {2604.00428},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.00428},
}