@article{ficofinitehorizonclosedloopfactorization,
  title = {FICO: Finite-Horizon Closed-Loop Factorization for Unified Multi-Agent Path Finding},
  author = {Jiarui Li and Alessandro Zanardi and Federico Pecora and Runyu Zhang and Gioele Zardini},
  year = {2025},
  eprint = {2511.13961},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.13961},
}