A Linear Iterative Approach for Hierarchical Shortest Path Finding Gutemberg Guerra Filho Hanan Samet Department of Computer Science University of Maryland, College Park 20742 Department of Computer Science Center for Automation Research Institute for Advanced Computer Studies University of Maryland, College Park 20742 [email protected] [email protected] !"#$%'& )()&* + !!, <=("+ -/ .0#(">?.A@B 3 12!4&35 67!7 E + )6-F 8(" F99 $679%:68 ;!7G2H$9%:1I8!;D<JC 7&K 2#67!7 L4/ !7:!M -("567!-9N!4OP&QR!GHP&S!T PP& NPA2!M! + G# (" ?L8U !7$ #!"QN!7 * $("7V:1 !79)T-XW4 !GE#95YP&4#)6!* -9Z[9!\] 2=))[H!= $("!* 95^ !" L=_B2W %)&5!G[PR6!-9`!#:* <a!9b2*c 6)!Ped2$)\RF! + GJ (" '!& $ &fL g\EG6WD$ E$%d2$ N!<h(7 FF%: !765! [!Gi + F$-W8 !9$6E + !F!* G4^Ljg\S2W% )&k6!-9ld2$- Rm8> ;DC 9SP& A$96no$<a!9l& )G%$!7o!<1(" Lpg\ 24n<a$49 !(7 9 25 !7 )60P7VE 5PS( !"Sd2$- Em8> P D#! G (7 ?L=t!Z+ )6hu2*v)(" VE(;Q + qr sC!": P& Zm8+ >Gw C 9NP&R d$- [m8>?Ix ;C P 7L ABSTRACT Xy <a!INTRODUCTION 95!NGWG9f^GZ&)(7^Nz)6[\(7 d2$-&{!k9!("A<a|W}P&{] WB!<5$!79!* %)#(" ?L1g\GW G 9E$# -*c)9#]#<a!95! 67&5%WH]J !!'&8$(" ) E i,"J<a* O8 !67G)!n&S!77& + !,:L5g\WA)&S(7 1)SOP&6 ~!7 95fP5! -J& GP!7J !)&6&G 7V 97VP&1!Y-) L=g\)e ^!E 9Ph$ W ("f9E& $ 6 z& 2JP&M:!7$!7fL _ 2 &DPSOP& )65- $ N<!~$D) <!95* !BGW G 95 !G4{n!2 60 2MPR (" 0d2$)Hn4!77&n + !,P& :!P&#/-*c97L g\H-*v9#:<!95 Nd2$- 9 2J<!N#GWG9 1. g\# $:! &Q/P%2WSMi!2!& P7 ! & ~_J:< X !79 + 2!H&E !"e& E# (7 ^U $:)!\*=\_F hhU'L Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. 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CONCLUSION AND FUTURE WORK !7$z&n%:M9 9 2&'LSg\ 4&-' 2HG 6 !S:* <a!9°2*c 67!PPd$ Z\! + Gi (" + !$)&%: !98* & ~ KG,G 67!-9VZPn() + !2!7,$0P&/2W %)& ! GJD)6!-9L wNREFERENCES LPi 4& L -E$^LU!GF4d$ [4)P 6 LPy| G££¢a¥ ¦# 4~a£"¥+ X 6E ¦¢¨ 6 ¥ ^£# R 4 =76EP¨?¢¥ V6 !2O Lf_JQVW 7L 1L~2JP& LP ?L ¶ &%: G*cOG[ G67 ~P&5~!95-|WM!<=_ 2L ¨¥P7§ 4Na£ SV">c C ¬7¬ ¬ V $-WSw 5O7¬L 1L~ K|, GL:_B!N!R + !8 !7% 9[4!7 !7 + w 7-¬7L 6 L E¨ 65£¢¦£ Qa£ 6?¢ "V^w 7 77wV ^ HLiK|z&KG (:LZ]8 2E67!-9[<a!F! GJP d2$ [zPE& 6 Ly| \G ® ^££?¢c =¥P£X?¦#¢a¥ =7 6EP¨X£^ P¢v£¥:£ ¥X£¥:?¢c¥:7§ 4' "¦G! "\V^$w 7 L ¬ ¶ Lt&),!7fLPtPGF67!9<!F! GJP[ )PJ6 V + -D)! %L D # =7 6FP¨ )V w 9> C w7 Pw772Ve~ 9%:~w (O"L ¶ Lt&),!7fLP Z)PE6D& !79:!7-!7P&R P-J! 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