LAO*: a heuristic search algorithm that finds solutions with loops. Hansen, E. & Zilberstein, S. AIJ, 129:35–62, 2001.
bibtex   
@article{Hansen+Zilberstein:2001,
	author = "Hansen, E. and Zilberstein, S.",
	year = "2001",
	title = "{LAO}*: a heuristic search algorithm that finds solutions with loops",
	journal = aij,
	volume = "129",
	_number = "1--2",
	pages = "35--62"
}

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