A tool for flexible planning of rescue routesVain, Jüri; Ernits, Juhan-Peep; Littover, Mati; Randvee, Ingmar; Riismaa, TiitIFAC Workshop on Control in Natural Disasters : CND'98 : September 21-22, 1998, Tokyo, Japan : preprints1998 / p. 101-106: illhttps://www.sciencedirect.com/science/article/pii/S1474667017384781