Near Optimal Hierarchical Path-Finding

By A. Botea, Martin Müller, Jonathan Schaeffer. Journal of game development, 2004

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A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres (2012, background): “HPA⁄ (Hierarchical Path-Finding A⁄) is one worthy of mention, which aims to improve the responsiveness of traditional algorithms in large, complex maps (Botea et al., 2004).”
Online Graph Pruning for Pathfinding On Grid Maps (2011, methodology): “Comparison with HPA*: Next, we compare jump points pruning to the HPA* algorithm (Botea, Müller, and Schaeffer 2004).”