@article{HenrichWurllWoern1998,
  author    = {Dominik Henrich and Christian Wurll and Heinz W{\"o}rn},
  title     = {On-line path planning by heuristic hierarchical search},
  year      = {1998},
  url  = {http://nbn-resolving.de/urn:nbn:de:hbz:386-kluedo-9718},
}