Lian, Y. et al. (2020). A Probabilistic Time-Constrained Based Heuristic Path Planning Algorithm in Warehouse Multi-AGV Systems⁎This work was supported by National Nature Science Foundation of China (61803161, 61973125); Natural Science Foundation of Guangdong Province (2018A030310371, 2017A030313385); Science and Technology Planning Project of Guangdong Province (2018B010108001, 2017B090914001, 2017B090901040, 2017B030306017); YangFan Innovative & Enterpreneurial Research Team Project of Guangdong Province (2016YT03G125).. IFAC-PapersOnLine. 53 (2), pp. 2538-2543. [Online].