Dobson, Andrew, and Kostas Bekris. “Improved Heuristic Search for Sparse Motion Planning Data Structures”. Proceedings of the International Symposium on Combinatorial Search 5, no. 1 (August 15, 2014): 196–197. Accessed July 17, 2026. https://ojs.aaai.org/index.php/SOCS/article/view/18334.