URAS, Tansel; KOENIG, Sven. Fast Near-Optimal Path Planning on State Lattices with Subgoal Graphs. Proceedings of the International Symposium on Combinatorial Search, [S. l.], v. 9, n. 1, p. 106–114, 2021. DOI: 10.1609/socs.v9i1.18446. Disponível em: https://ojs.aaai.org/index.php/SOCS/article/view/18446. Acesso em: 26 may. 2026.