Dangol, Anish, Sudip Adhikari, and Pralhad Chapagain. 2026. “Hard-Exclusion Bidirectional A*: Constraint-Safe, Real-Time Pathfinding for Dynamic Urban Networks”. International Journal on Engineering Technology and Infrastructure Development 2 (2):150-61. https://doi.org/10.3126/injet-indev.v2i2.95721.