M. RENEE JANSEN, M. Renee Jansen; STURTEVANT, Nathan. Direction Maps for Cooperative Pathfinding. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, [S. l.], v. 4, n. 1, p. 185–190, 2008. DOI: 10.1609/aiide.v4i1.18695. Disponível em: https://ojs.aaai.org/index.php/AIIDE/article/view/18695. Acesso em: 8 may. 2026.