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Both Theta* and Field D* are variations on the A* algorithm, but are adapted for any-angle pathfinding rather than pathfinding constrained to a grid. The primary difference between these two algorithms that I've seen is that Field D* can quickly recalculate the path at any time to adjust if the grid changes, while Theta* provides no such functionality.

Besides this change, what are the major differences between these algorithms? What are the pros/cons? Which is faster, and which will generate a superior path?

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  • $\begingroup$ The authors of Theta* have an alteration of Theta* called Phi* that can quickly recalculate the path after grid-changes. I haven't read the paper for Field D*, so I'm not sure what the difference between the two is yet. I've been meaning to do that anyways; I'll try to at least skim it in the next few days for you. $\endgroup$ Feb 25, 2013 at 17:43
  • $\begingroup$ Please provide references for the Theta* and Field D* algorithms. The question suggests that you think A* is limited to path-finding in a grid, which is simply not true; A* is a heuristic for quickly finding shortest paths in arbitrary graphs. $\endgroup$
    – Jeffε
    Feb 25, 2013 at 20:39

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