@article{multiobjectiveconflictbasedsearchusing,
  title = {Multi-objective Conflict-based Search Using Safe-interval Path Planning},
  author = {Zhongqiang Ren and Sivakumar Rathinam and Maxim Likhachev and Howie Choset},
  year = {2021},
  eprint = {2108.00745},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2108.00745v3},
}