Wiener, JM Max Planck Institute for Biological Cybernetics, Max Planck Society; Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://www.tandfonline.com/doi/abs/10.1207/s15427633scc0304_5 (Verlagsversion)
Wiener, J., & Mallot, H. (2003). "Fine-to-Coarse" Route Planning and Navigation in Regionalized Environments. Spatial Cognition and Computation, 3(4), 331-358. doi:10.1207/s15427633scc0304_5.