### Approximate Path Planning

HTAP (download 780 KB)

Path planning is the problem of finding the least-cost path through a
weighted graph. The above images show the amount of the graph searched
(nodes marked in white)
by A*, on the left, and by the HTAP algorithm, on the right.
As is typical for a path of this length, A* had to search nearly the
entire graph.
The HTAP algorithm returns an approximately optimal path,
orders of magnitude faster.