SHAH, Brual; GUPTA, Satyandra. Speeding Up A* Search on Visibility Graphs Defined Over Quadtrees to Enable Long Distance Path Planning for Unmanned Surface Vehicles. Proceedings of the International Conference on Automated Planning and Scheduling, [S. l.], v. 26, n. 1, p. 527–535, 2016. DOI: 10.1609/icaps.v26i1.13793. Disponível em: https://ojs.aaai.org/index.php/ICAPS/article/view/13793. Acesso em: 26 may. 2026.