@Article{Koenig+al:2004,
  author    = {Koenig, Sven and Likhachev, Maxim and Furcy, David},
  title     = {Lifelong planning {A*}},
  journal   = aij,
  year      = {2004},
  volume    = {155},
  pages     = {93--146},
  _number   = {1-2},
  publisher = {Elsevier},
}

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