@inproceedings{CIG-2008-HaraborB,
	author        = "Daniel Harabor and Adi Botea",
	booktitle     = "{Proceedings of the Fourth Symposium on Computational Intelligence and Games}",
	doi           = "10.1109/CIG.2008.5035648",
	isbn          = "978-1-4244-2973-8",
	pages         = "258--265",
	publisher     = "{IEEE}",
	title         = "{Hierarchical path planning for multi-size agents in heterogeneous environments}",
	year          = 2008,
}