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;
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.509.6510&rep=rep1&type=pdf (Any fulltext)
Wiener, J., & Mallot, H. (2003). Route Planning in Hierarchically Structured Environments: From Places to Regions. In F. Schmalhofer, R. Young, & G. Katz (Eds.), EuroCogSci 03: the European Cognitive Science Conference 2003 (pp. 447). Mahwah, NJ, USA: Erlbaum.