@Article(Haigh:map-jetai,
        Author="Karen Zita Haigh and Jonathan Richard Shewchuk and Manuela M. Veloso",
        Title="Exploiting Domain Geometry in Analogical Route Planning",
	Journal="Journal of Experimental and Theoretical Artificial Intelligence",
	Year="1997", Volume=9, Year=1997,Pages="509-541",
	URL="http://www.cs.cmu.edu/~khaigh/papers/khaigh97d.abstact.html")