OH, Shunhao; LEONG, Hon Wai. Edge N-Level Sparse Visibility Graphs: Fast Optimal Any-Angle Pathfinding Using Hierarchical Taut Paths. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 8, n. 1, p. 64–72, 2021. DOI: 10.1609/socs.v8i1.18427. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18427. Acesso em: 27 may. 2026.