This project deals with the integration of the D*-Lite algorithm into MissionLab and finding
appropriate ways  of fusing planning and reactive behaviors. The robot switches intelligently between three modes - 1) a purely reactive mode 2) a plan-guided reaction mode where the planner sets waypoints and 3) a purely deliberative mode.

Snapshots of a Nomad robot navigating a maze in the experiments we conducted to validate D*-Lite are shown above. A short video of the same experiment is available here (.avi 3.2M).