@inproceedings{ijcai2009p303,
  title     = {Incremental Phi*: Incremental Any-Angle Path Planning on Grids},
  author    = {Nash, Alex and Koenig, Sven and Likhachev, Maxim},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {1824--1829},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/303},
}