A hierarchical knowledge structure for Heuristic Path Planning Holmes P · Jungert E Försvarets forskningsanstalt (FOA) 1990-01
Using Connectivity Graphs for path planning in Digitized Maps Holmes P D · Jungert E Försvarets forskningsanstalt (FOA) 1990-04
A knowledge-based approach to the Shortest Path Problem in a Digitized Map Holmes P D · Jungert E Försvarets forskningsanstalt (FOA) 1989-01