@ARTICLE{ren22mosipp,
  author={Ren, Zhongqiang and Rathinam, Sivakumar and Likhachev, Maxim and Choset, Howie},
  journal={IEEE Robotics and Automation Letters}, 
  title={Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles}, 
  year={2022},
  volume={7},
  number={3},
  pages={8154-8161},
  doi={10.1109/LRA.2022.3187270}
}