RAHEEM, Firas A.; HAMEED, Umniah I. Path Planning Algorithm using D* Heuristic Method Based on PSO in Dynamic Environment. American Scientific Research Journal for Engineering, Technology, and Sciences, Jordan, v. 49, n. 1, p. 257–271, 2018. Disponível em: https://www.asrjetsjournal.org/American_Scientific_Journal/article/view/4515. Acesso em: 17 sep. 2025.