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P. E. Hart, N. J. Nilsson and B. Raphael, “A Formal Basis for the Heuristic Determination of Minimum Cost Paths,” IEEE Transactions on Systems Science and Cybernetic, Vol. 4, No. 2, 1968, pp. 100-107.
http://dx.doi.org/10.1109/TSSC.1968.300136

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