What tie breaking criteria do I need to implement in A* to mimic exactly the same behaviour as D* lite. Ofcourse both algorithms use the same heuristic and cost functions. So basically if I run A* lite at every step of D* lite(same graph), both paths should be exactly the same(not just the overall cost). I used this psuedocode to implement A*: https://en.wikipedia.org/wiki/A*_search_algorithm and the non optimized D* lite version from here: http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf. Currently only the diagonal heuristic is implemented. Cost function uses (int)(10) for left,right,up,down and (int)(sqrt(2) * 10) for diagonal movements.

Thanks in advance.



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