I'm intrigued but the article is very verbose with little detail. Mabie the paper will give a more satisfying description. Im most curiosity how the algorithm

I'm intrigued but the article is very verbose with little detail. Mabie the paper will give a more satisfying description. Im most curiosity how the algorithm fulfil the "global minima" that djixtra guarantees. The clumping of front-tier nodes seem prone to missing some solutions if unlucky.