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  1. Predicting optimal solution costs with bidirectional stratified sampling in regular search spaces.Levi H. S. Lelis, Roni Stern, Shahab Jabbari Arfaee, Sandra Zilles, Ariel Felner & Robert C. Holte - 2016 - Artificial Intelligence 230 (C):51-73.
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  • Probably bounded suboptimal heuristic search.Roni Stern, Gal Dreiman & Richard Valenzano - 2019 - Artificial Intelligence 267 (C):39-57.
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  • Effective footstep planning using homotopy-class guidance.Vinitha Ranganeni, Sahit Chintalapudi, Oren Salzman & Maxim Likhachev - 2020 - Artificial Intelligence 286 (C):103346.
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