Wang Xiaoqing Guo Yong Zheng Yanxing Meilin Shi Non-Linear Precomputation For Optimal Data sources and Paths Searching. 67-72 2007 conf/iri/2007 IRI http://dx.doi.org/10.1109/IRI.2007.4296599 db/conf/iri/iri2007.html#XiaoqingYYM07