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+@Conference{paper,
+ author = {A. Nash, K. Daniel, S. Koenig and A. Felner},
+ title = {Theta*: Any-Angle Path Planning on Grids},
+ booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence},
+ pages = {1177--1183},
+ year = {2007},
+} \ No newline at end of file