Bayesian A* Tree Search with Expected O(N) Node Expansions: Applications to Road Tracking.

James M. Coughlan Alan L. Yuille Bayesian A* Tree Search with Expected O(N) Node Expansions: Applications to Road Tracking. 1929-1958 2002 14 Neural Computation 8 http://dx.doi.org/10.1162/089976602760128072 db/journals/neco/neco14.html#CoughlanY02