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[HNR68] Peter E. Hart, Nils J. Nilsson et Bertram Raphael. A Formal Basis for the Heuristic Determination of Minimum Cost Paths. IEEE Transactions on Systems Science and Cybernetics 4(2):100-107. IEEE, juillet 1968. 
@article{tssc4(2)-HNR,
  author =              {Hart, Peter E. and Nilsson, Nils J. and Raphael,
                         Bertram},
  title =               {A~Formal Basis for the Heuristic Determination of
                         Minimum Cost Paths},
  publisher =           {IEEE},
  journal =             {IEEE Transactions on Systems Science and
                         Cybernetics},
  volume =              {4},
  number =              {2},
  pages =               {100-107},
  year =                {1968},
  month =               jul,
  doi =                 {10.1109/TSSC.1968.300136},
}
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