Parra Álvaro, Torralba Álvaro, Linares López C. Precomputed-Direction Heuristics for Suboptimal Grid-Based Path-finding. SOCS [Internet]. 2012 Jul. 19 [cited 2026 Jul. 12];3(1):211-2. Available from: https://ojs.aaai.org/index.php/SOCS/article/view/18252