Uras, Tansel, Sven Koenig, and Carlos Hernandez. “Subgoal Graphs for Eight-Neighbor Gridworlds”. Proceedings of the International Symposium on Combinatorial Search 3, no. 1 (August 20, 2021): 213–214. Accessed May 27, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18253.