Hierarchical Path Search with Partial Materialization of Costs for a Smart Wheelchair.

Daniel Cagigas Julio Abascal Hierarchical Path Search with Partial Materialization of Costs for a Smart Wheelchair. 409-431 2004 39 Journal of Intelligent and Robotic Systems 4 http://dx.doi.org/10.1023/B:JINT.0000026090.00222.40 db/journals/jirs/jirs39.html#CagigasA04