@inproceedings{ren22emoa,
  title={Enhanced multi-objective {A}* using balanced binary search trees},
  author={Ren, Zhongqiang and Zhan, Richard and Rathinam, Sivakumar and Likhachev, Maxim and Choset, Howie},
  booktitle={Proceedings of the International Symposium on Combinatorial Search},
  volume={15},
  number={1},
  pages={162--170},
  year={2022}
}