@article{mapfhdmultiagentpathfindinginhighdensity,
  title = {MAPF-HD: Multi-Agent Path Finding in High-Density Environments},
  author = {Hiroya Makino and Seigo Ito},
  year = {2025},
  eprint = {2509.06374},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.06374},
}