6.006 Introduction to Algorithms (Fall 2011, MIT OCW). Taught by Professor Erik Demaine and Professor Srinivas Devadas, this course provides an introduction to mathematical modeling of computational problems. It covers the common algorithms, algorithmic paradigms, and data structures used to solve these problems. The course emphasizes the relationship between algorithms and programming, and introduces basic performance measures and analysis techniques for these problems.
(from ocw.mit.edu)
Lecture 18 - Speeding up Dijkstra
This lecture covers optimizations that can improve real-life, average case performance of shortest path algorithms. These include using Dijkstra for a single source and single target, bi-directional search, and goal-directed or A* search.