Module lpa_star 

Lifelong Planning A* (LPA*) path planning algorithm

An incremental version of A* that efficiently replans when edge costs change. Each node maintains two values: g (cost-so-far) and rhs (one-step lookahead of g). When edge costs change only affected nodes are updated, avoiding a full replan.

Reference: Koenig & Likhachev (2002), “D* Lite”

Structs

EdgeChange

Describes a single edge-cost change for incremental replanning.

LPAStarConfig

Configuration for the LPA* planner.

LPAStarPlanner

Lifelong Planning A* planner.