WOJAK, Anna. Application of the A* algorithm to problems of the Euclidean shortest paths in the plane with polygonal obstacles. Annales Mathematicae Silesianae, [S. l.], v. 22, p. 69–82, 2008. Disponível em: https://trrest.vot.pl/ojsus/index.php/AMSIL/article/view/14053. Acesso em: 7 may. 2025.