Vadim Bulitko Mitja Lustrek Jonathan Schaeffer Yngvi Björnsson Sverrir Sigmundarson Dynamic Control in Real-Time Heuristic Search. 419-452 2008 32 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2497.html db/journals/jair/jair32.html#BulitkoLSBS08