@inproceedings{ren21mocbs,
  title={Multi-objective conflict-based search for multi-agent path finding},
  author={Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={8786--8791},
  year={2021},
  organization={IEEE}
}