TerraCost: a versatile and scalable approach to computing least-cost-path surfaces for massive grid-based terrains. - Thomas Hazel; Laura Toma; Jan Vahrenhold; Rajiv Wickremesinghe (SAC, 2006)

Terracost: Computing least-cost-path surfaces for massive grid terrains. - Thomas Hazel; Laura Toma; Jan Vahrenhold; Rajiv Wickremesinghe (ACM J. Exp. Algorithmics, 2008)