Enhanced Waypoint Graph for Path Planning in Virtual Worlds. - Nicholas Mario Wardhana; Henry Johan; Hock Soon Seah (CW, 2012)

Enhanced waypoint graph for surface and volumetric path planning in virtual worlds. - Nicholas Mario Wardhana; Henry Johan; Hock Soon Seah (Vis. Comput., 2013)

Accelerating Graph-based Path Planning Through Waypoint Clustering. - Nicholas Mario Wardhana; Henry Johan; Hock Soon Seah (PG (Short Papers), 2015)

Subregion graph: A path planning acceleration structure for characters with various motion types in very large environments. - Nicholas Mario Wardhana; Henry Johan; Hock Soon Seah (Comput. Vis. Media, 2015)

Graph-based map representations for efficient path planning in virtual environments - Nicholas Mario Wardhana (2016)

Topologic: Tools to explore architectural topology. - Robert Aish; Wassim Jabi; Simon Lannon; Nicholas Mario Wardhana; Aikaterini Chatzivasileiadi (AAG, 2018)