Dellin, Christopher, and Siddhartha Srinivasa. 2016. “A Unifying Formalism for Shortest Path Problems With Expensive Edge Evaluations via Lazy Best-First Search over Paths With Edge Selectors”. Proceedings of the International Conference on Automated Planning and Scheduling 26 (1):459-67. https://doi.org/10.1609/icaps.v26i1.13788.