Chatterjee, Ishani, Maxim Likhachev, Ashwin Khadke, and Manuela Veloso. “Speeding Up Search-Based Motion Planning via Conservative Heuristics”. Proceedings of the International Conference on Automated Planning and Scheduling 29, no. 1 (May 25, 2021): 674-679. Accessed March 29, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/3535.