An improved <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si78.svg" display="inline" id="d1e789"><mml:msup><mml:mrow><mml:mi>A</mml:mi></mml:mrow><mml:mrow><mml:mo>∗</mml:mo></mml:mrow></mml:msup></mml:math> path-planning algorithm for nuclear spill evacuation and radioactive source retrieval in complex terrain

Hao Tian, Zihui Yang, Guomin Sun, Shi-Peng Wang, Juan Fu, Guihua Tao