Dynamic Elliptical Search Strategy

Input: T, S_start, S_goal

Output: Path

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T = Tree(start) t

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Cbest = ∞;

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ellipse = space;

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while not stop_condition()

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if Cbest < ∞;

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Update ellipse(Cbest);

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q_rand = Sample_point()

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q_nearest = Nearest node(q_rand);

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q_new = Extend tree(q_nearest, q_rand):

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if is valid(q_new)

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T.add(q_new);

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cost = calculate cost(q_new)

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if cost < Cbest

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Cbest = cost;

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end

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return get_best_path()