@InCollection{likhachev2003,
  Title                    = {{ARA}*: Anytime {A}* with provable bounds on sub-optimality},
  Author                   = {M. Likhachev and G. Gordon and S. Thrun},
  Booktitle                = {Advances in Neural Information Processing Systems},
  Publisher                = {MIT Press},
  Year                     = {2003},

  Claves                   = {,heur,}
}

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