@article{afocalanyanglepathfindingalgorithm,
  title = {A Focal Any-Angle Path-finding Algorithm Based on A* on Visibility Graphs},
  author = {Pei Cao and Zhaoyan Fan and Robert X. Gao and Jiong Tang},
  year = {2017},
  eprint = {1706.03144},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1706.03144v1},
}