Veerapaneni, R., Kusnur, T., & Likhachev, M. (2023). Effective Integration of Weighted Cost-to-Go and Conflict Heuristic within Suboptimal CBS. Proceedings of the AAAI Conference on Artificial Intelligence, 37(10), 11691–11698. https://doi.org/10.1609/aaai.v37i10.26381