Lian, Y., Xie, W., & Zhang, L. (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), 2538–2543. http://access.bl.uk/ark:/81055/vdc_100165742512.0x00000f