@article{optimalanyanglepathfindingonasphere,
  title = {Optimal Any-Angle Pathfinding on a Sphere},
  author = {Volodymyr Rospotniuk and Rupert Small},
  year = {2020},
  eprint = {2004.12781},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.12781v2},
}