REVISITING BOUNDED-SUBOPTIMAL SAFE INTERVAL PATH PLANNING Статья Yakovlev K., Andreychuk A., Stern R. Proceedings International Conference on Automated Planning and Scheduling, ICAPS. AAAI press. Том 30. 2020. С. 300-304
TOWARDS TIME-OPTIMAL ANY-ANGLE PATH PLANNING WITH DYNAMIC OBSTACLES Статья Yakovlev K., Andreychuk A. Proceedings International Conference on Automated Planning and Scheduling, ICAPS. AAAI press. Том 2021-August. 2021. С. 405-414
ANY-ANGLE PATHFINDING FOR MULTIPLE AGENTS BASED ON SIPP ALGORITHM Статья Yakovlev K., Andreychuk A. Proceedings International Conference on Automated Planning and Scheduling, ICAPS. AAAI press. 2017. С. 586-593