A Formal Basis for the Heuristic Determination of Minimum Cost Paths

@article{Hart1968AFB,
  title={A Formal Basis for the Heuristic Determination of Minimum Cost Paths},
  author={Peter E. Hart and Nils J. Nilsson and Bertram Raphael},
  journal={IEEE Trans. Systems Science and Cybernetics},
  year={1968},
  volume={4},
  pages={100-107}
}
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