NASH, Alex; KOENIG, Sven; TOVEY, Craig. Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 1, n. 1, p. 153–154, 2010. DOI: 10.1609/socs.v1i1.18152. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18152. Acesso em: 26 may. 2026.