Finetuning Randomized Heuristic Search for 2D Path Planning: Finding the Best Input Parameters for R* Algorithm through Series of Experiments. - Konstantin S. Yakovlev; Egor Baskin; Ivan Hramoin (AIMSA, 2014)

Grid-Based Angle-Constrained Path Planning. - Konstantin S. Yakovlev; Egor Baskin; Ivan Hramoin (KI, 2015)