HARABOR, Daniel; GRASTIEN, Alban. An Optimal Any-Angle Pathfinding Algorithm. Proceedings of the International Conference on Automated Planning and Scheduling, [S. l.], v. 23, n. 1, p. 308–311, 2013. DOI: 10.1609/icaps.v23i1.13609. Disponível em: https://ojs.aaai.org/index.php/ICAPS/article/view/13609. Acesso em: 25 may. 2026.