KRING, A.; CHAMPANDARD, A.; SAMARIN, N. DHPA* and SHPA*: Efficient Hierarchical Pathfinding in Dynamic and Static Game Worlds. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, [S. l.], v. 6, n. 1, p. 39-44, 2010. DOI: 10.1609/aiide.v6i1.12397. Disponível em: https://ojs.aaai.org/index.php/AIIDE/article/view/12397. Acesso em: 29 mar. 2024.