@ARTICLE{ren21momstar,
  author={Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal={IEEE Robotics and Automation Letters}, 
  title={Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding}, 
  year={2021},
  volume={6},
  number={4},
  pages={7153-7160},
  doi={10.1109/LRA.2021.3096744}
}