Ethan Burns Wheeler Ruml Minh Binh Do Heuristic Search When Time Matters. 697-740 2013 47 J. Artif. Intell. Res. https://doi.org/10.1613/jair.4047 https://www.wikidata.org/entity/Q129489727 db/journals/jair/jair47.html#BurnsRD13