Source: wikibot/lifelong-planning-a
= Lifelong Planning A*
{wiki=Lifelong_Planning_A*}
Lifelong Planning A* (LPA*) is an extension of the A* search algorithm that is designed to efficiently plan over an extended horizon, particularly in dynamic environments where changes can occur during the planning process. The key features of LPA* include: 1. **Incremental Replanning**: Unlike traditional A*, which recalculates paths from scratch, LPA* updates existing paths based on changes in the environment.