@inproceedings{FDG-2009-ButtJ,
	author        = "Rehman Butt and Stefan J. Johansson",
	booktitle     = "{Proceedings of the Fourth International Conference on Foundations of Digital Games}",
	doi           = "10.1145/1536513.1536558",
	isbn          = "978-1-60558-437-9",
	pages         = "248--255",
	publisher     = "{ACM}",
	title         = "{Where do we go now?: anytime algorithms for path planning}",
	year          = 2009,
}