Carlson, M., S. K. Moghadam, D. D. Harabor, P. J. Stuckey, and M. Ebrahimi. “Optimal Pathfinding on Weighted Grid Maps”. Proceedings of the AAAI Conference on Artificial Intelligence, vol. 37, no. 10, June 2023, pp. 12373-80, doi:10.1609/aaai.v37i10.26458.