@article{ageneralizedaalgorithmforfinding,
  title = {A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs},
  author = {Jaein Lim and Panagiotis Tsiotras},
  year = {2020},
  eprint = {2012.13057},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2012.13057v1},
}