HERNANDEZ, Carlos; BAIER, Jorge. Fast Subgoaling for Pathfinding via Real-Time Search. Proceedings of the International Conference on Automated Planning and Scheduling, [S. l.], v. 21, n. 1, p. 327–330, 2011. DOI: 10.1609/icaps.v21i1.13488. Disponível em: https://ojs.aaai.org/index.php/ICAPS/article/view/13488. Acesso em: 26 may. 2026.