# Multi-agent Pathfinding Based on Improved Cooperative A* in Kiva System

> Research article (2019 5th International Conference on Control, Automation and Robotics (ICCAR), 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W2970324170](https://www.wikidata.org/wiki/openalex:W2970324170)  
**Source**: https://4ort.xyz/entity/multi-agent-pathfinding-based-on-improved-cooperative-a-in-kiva-system