Ar*: a Bounded Suboptimal Search algorithm using Conditional Node Re-expansion Policy. - Minh Tien Dam; Dao Tran Le; Viet-Hung Truong; Huyen Thi Dinh; Ngan Kim Nguyen; Anh Tuan Nguyen; Viet Hung Bui; Manh Tiem Nguyen; Manh Ha Le (ICTC, 2023)