Yap, Peter, Neil Burch, Robert Holte, and Jonathan Schaeffer. “Block A*: Database-Driven Search With Applications in Any-Angle Path-Planning”. Proceedings of the AAAI Conference on Artificial Intelligence 25, no. 1 (August 4, 2011): 120-125. Accessed September 20, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/7813.