@inproceedings{ren23bbmocbs,
  title={Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding},
  author={Ren, Zhongqiang and Li, Jiaoyang and Zhang, Han and Koenig, Sven and Rathinam, Sivakumar and Choset, Howie},
  booktitle={Proceedings of the International Conference on Automated Planning and Scheduling},
  volume={33},
  DOI={10.1609/icaps.v33i1.27214},
  number={1},
  year={2023}, month={July}, pages={361-369}
}