Module ara_star 

Anytime Repairing A* (ARA*) path planning algorithm

ARA* finds a suboptimal solution quickly using an inflated heuristic (epsilon > 1), then iteratively decreases epsilon and improves the solution, reusing previous search effort.

Reference: Likhachev et al., “ARA*: Anytime A* with Provable Bounds on Sub-Optimality”, NIPS 2003.

Structs

ARAStarConfig

Configuration for ARA* planner

ARAStarPlanner

ARA* (Anytime Repairing A*) path planner.