Either, for a three-dimensional SE(2) configuration space, implement the A* search -OR- on a two-dimensional space, implement D*
On your web page, show at least two movies - one that illustrates a successful planning episode, and one that fails. Include on your web page a brief description (pdf file or html ONLY) of your approach. This report should include all relevant equations and algorithm descriptions, along with a description of any parameters used by your algorithm.
For all movies, graphically show the order in which A* visits nodes.
In addition to the required explanations, explain why you chose a particular heurstic for the A*, D*, etc. Here are two runs for a two-dimensional A* from last year. Now, we have it harder
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