Computing the shortest path: <i>A</i> search meets graph theory.

Andrew V. Goldberg Chris Harrelson Computing the shortest path: <i>A</i> search meets graph theory. 156-165 2005 conf/soda/2005 SODA http://doi.acm.org/10.1145/1070432.1070455 db/conf/soda/soda2005.html#GoldbergH05