This textbook chapter has a good overview of the state of the art: https://cs.brown.edu/~rt/gdhandbook/chapters/hierarchical.pdf https://cs.brown.edu/~rt/gdhand

This textbook chapter has a good overview of the state of the art: https://cs.brown.edu/~rt/gdhandbook/chapters/hierarchical.pdf https://cs.brown.edu/~rt/gdhandbook/chapters/hierarchical.pd...