Code:
Special thanks to Paul Ruvolu for code for helper functions and multi-neato launch file.
Helper functions: https://github.com/comprobo23/robot_localization
Multi-agent path finding: https://github.com/gavincangan/multiagent-pathfinding
Papers:
Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding
MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees