WANG, Zhiyong. Path planning for first responders in the presence of moving obstacles. A+BE | Architecture and the Built Environment, [S.l.], n. 4, p. 1-198, june 2015. ISSN 2214-7233. Available at: <https://journals.open.tudelft.nl/index.php/abe/article/view/zwang>. Date accessed: 20 aug. 2019. doi: https://doi.org/10.7480/abe.2015.4.887.