Dangol, Anish, Sudip Adhikari, and Pralhad Chapagain. “Hard-Exclusion Bidirectional A*: Constraint-Safe, Real-Time Pathfinding for Dynamic Urban Networks”. International Journal on Engineering Technology and Infrastructure Development 2, no. 2 (June 12, 2026): 150–161. Accessed June 17, 2026. https://www.nepjol.info/index.php/injetindev/article/view/95721.