@incollection {NIPS2003_CN03,
  author = " Maxim Likhachev and  Geoffrey J. Gordon and  Sebastian Thrun",
  title = " ARA*: Anytime A* with Provable Bounds on Sub-Optimality",
  booktitle = "Advances in Neural Information Processing Systems 16",
  editor = "Sebastian Thrun and Lawrence Saul and Bernhard {Sch\"{o}lkopf}",
  publisher = "MIT Press",
  address = "Cambridge, MA",
  year = "2004",
  keywords = "planning, search, anytime planning, anytime search, control",
  }