HPA* Enhancements. - M. Renee Jansen; Michael Buro (AIIDE, 2007)

An Analysis of Map-Based Abstraction and Refinement. - Nathan R. Sturtevant; M. Renee Jansen (SARA, 2007)

Direction Maps for Cooperative Pathfinding. - M. Renee Jansen; Nathan R. Sturtevant (AIIDE, 2008)

A new approach to cooperative pathfinding. - M. Renee Jansen; Nathan R. Sturtevant (AAMAS (3), 2008)