@article{conflictbasedsearchformultiagentpathfind,
  title = {Conflict-Based Search for Multi-Agent Path Finding with Elevators},
  author = {Haitong He and Xuemian Wu and Shizhe Zhao and Zhongqiang Ren},
  year = {2026},
  eprint = {2602.20512},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.20512},
}