====== Lab05 - Incremental Path Planning ======

^ Motivations and Goals  ^
| Become familiar with advanced methods of grid based path planning and dynamic replanning |
| Be able to dynamically replan the motion based on the robot feedback from the environment |
^ Tasks ([[courses:uir:internal:instructions:lab05|teacher]]) ^
| [[courses:uir:hw:t1x-dstar|T1x-dstar]] **(5 Bonus Points)** Implement and verify the functionality of the D* Lite algorithm |

Incremental path planning is necessary in partially known or dynamically changing environments. Typical pipeline of incremental planning is:
  - **Sensing** - new measurements are fused into the environment representation
  - **Planning** - planning based on the current state of the robot and environment
  - **Acting** - performing an incremental motion with the robot
  - **Repeat**