GOLDENBERG, M.; FELNER, A.; STURTEVANT, N.; SCHAEFFER, J. Portal-Based True-Distance Heuristics for Path Finding. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 1, n. 1, p. 39-45, 2010. DOI: 10.1609/socs.v1i1.18169. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18169. Acesso em: 2 may. 2026.