@INPROCEEDINGS{SaxenaAMRA22,
  author={Saxena, Dhruv Mauria and Kusnur, Tushar and Likhachev, Maxim},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  title={AMRA*: Anytime Multi-Resolution Multi-Heuristic A*},
  year={2022},
  volume={},
  number={},
  pages={3371-3377},
  doi={10.1109/ICRA46639.2022.9812359}
}