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Fast Algorithm for Catching a Prey Quickly in Known and Par..:

Baier, Jorge A. ; Botea, Adi ; Harabor, Daniel.
IEEE Transactions on Computational Intelligence and AI in Games.  7 (2015)  2 - p. 193-199 , 2015
Link: https://doi.org/10.1109/tciaig.2014.2337889