Bailey, J., C. Tovey, T. Uras, S. Koenig, and A. Nash. “Path Planning on Grids: The Effect of Vertex Placement on Path Length”. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, vol. 11, no. 1, June 2021, pp. 108-14, doi:10.1609/aiide.v11i1.12808.