@Article{botea-etal-jogd04,
  author =	 {A. Botea and M. M\"{u}ller and J. Schaeffer},
  title =	 {{Near Optimal Hierarchical Path-Finding}},
  journal =	 {Journal of Game Development},
  year =	 {2004},
  volume =	 {1},
  number =	 {1},
  pages =	 {7--28}
}