Boyarski, Eli, Ariel Felner, Pierre Le Bodic, Daniel D. Harabor, Peter J. Stuckey, and Sven Koenig. “F-Aware Conflict Prioritization & Improved Heuristics For Conflict-Based Search”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 14 (May 18, 2021): 12241-12248. Accessed August 19, 2022. https://ojs.aaai.org/index.php/AAAI/article/view/17453.