@ARTICLE{ren23erca,
  author={Ren, Zhongqiang and Rubinstein, Zachary B. and Smith, Stephen F. and Rathinam, Sivakumar and Choset, Howie},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={ERCA*: A New Approach for the Resource Constrained Shortest Path Problem}, 
  year={2023},
  volume={},
  number={},
  pages={1-12},
  doi={10.1109/TITS.2023.3293039}
}