publisher={Springer Verlag}
}
+@article{ goldberg:mlb,
+ title={{Implementations of Dijkstra's algorithm based on multi-level buckets}},
+ author={Goldberg, A.V. and Silverstein, C.},
+ journal={Network optimization},
+ pages={292--327},
+ year={1997},
+ publisher={Springer Verlag}
+}
+
+@article{ hart:astar,
+ title={{Correction to a formal basis for the heuristic determination of minimum cost paths}},
+ author={Hart, P.E. and Nilsson, N.J. and Raphael, B.},
+ journal={ACM SIGART Bulletin},
+ number={37},
+ pages={28--29},
+ issn={0163-5719},
+ year={1972},
+ publisher={ACM}
+}