@InProceedings{harabor-botea-cig08,
  author = {D. Harabor and A. Botea},
  title = {{Hierarchical Path Planning for Multi-Size Agents in Heterogeneous Environments}},
  booktitle = {Proceedings of the IEEE Symposium on Computational Intelligence and Games CIG-08},
  year = {2008},
  month = {December},
  address = {Perth, Australia},
  pages = {258--265}
}