CAPRA: A contour-based accessible path routing algorithm. Rahaman, M. S., Mei, Y., Hamilton, M., & Salim, F. D. Inf. Sci., 385:157–173, 2017.
CAPRA: A contour-based accessible path routing algorithm [link]Paper  doi  bibtex   
@article{DBLP:journals/isci/RahamanMHS17,
  author    = {Mohammad Saiedur Rahaman and
               Yi Mei and
               Margaret Hamilton and
               Flora D. Salim},
  title     = {{CAPRA:} {A} contour-based accessible path routing algorithm},
  journal   = {Inf. Sci.},
  volume    = {385},
  pages     = {157--173},
  year      = {2017},
  url       = {https://doi.org/10.1016/j.ins.2016.12.041},
  doi       = {10.1016/j.ins.2016.12.041},
  timestamp = {Thu, 05 Dec 2019 00:00:00 +0100},
  biburl    = {https://dblp.org/rec/journals/isci/RahamanMHS17.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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