@ARTICLE{ren23moesTRO, author={Ren, Zhongqiang and Srinivasan, Akshaya Kesarimangalam and Vundurthy, Bhaskar and Abraham, Ian and Choset, Howie}, journal={IEEE Transactions on Robotics}, title={A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search}, year={2023}, volume={}, number={}, pages={1-12}, doi={10.1109/TRO.2023.3284358} }