Pogaçe, Estela, and Dimitrios A. Karras. 2022. “On A* Graph Search Algorithm Heuristics Implementation Towards Efficient Path Planning in the Presence of Obstacles”. International Journal of Innovative Technology and Interdisciplinary Sciences 5 (4):1033-51. https://doi.org/10.15157/IJITIS.2022.5.4.1033-1051.