@article{multiagentpathfindingwithnonunitintegere,
  title = {Multi-Agent Pathfinding with Non-Unit Integer Edge Costs via Enhanced Conflict-Based Search and Graph Discretization},
  author = {Hongkai Fan and Qinjing Xie and Bo Ouyang and Yaonan Wang and Zhi Yan and Jiawen He and Zheng Fang},
  year = {2026},
  eprint = {2604.05416},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.05416},
}