Yakovlev, Konstantin, and Anton Andreychuk. “Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles”. Proceedings of the International Conference on Automated Planning and Scheduling 31, no. 1 (May 17, 2021): 405-414. Accessed April 24, 2024. https://ojs.aaai.org/index.php/ICAPS/article/view/15986.