Uras T, Koenig S, Hernandez C. Subgoal Graphs for Optimal Pathfinding in Eight-Neighbor Grids. ICAPS [Internet]. 2013 Jun. 2 [cited 2026 May 26];23(1):224-32. Available from: https://ojs.aaai.org/index.php/ICAPS/article/view/13568