This code is authored by Hang Ma
To find out more please refer to their publication: Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
@article{Ma2017,
author = {Ma, Hang and Li, Jiaoyang and Kumar, T K Satish and Koenig, Sven},
title = {Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks},
journal = {Proc. 16th Int. Conf. Auton. Agents Multiagent Syst. (AAMAS 2017)},
url = {http://arxiv.org/abs/1705.10868},
year = {2017}
}