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@TECHREPORT{,
       author = {Fernández-Madrigal, Juan-Antonio},
        title = {Constructing a Hierarchical Graph Incrementally from a Flat Graph in Order to Perform Optimal, Efficient Path Searching},
         year = {1998},
  institution = {Computer Science Dpt. - University of Texas at Austin (USA) / System Engineering and Automation Dpt. - University of Málaga (Spain)}
}