A Light Formulation of the E∗ Interpolated Path Replanner

The E∗ algorithm is a path planning method capable of dynamic replanning and userconfigurable path cost interpolation, it results in more appropriate paths during gradient descent. The underlying formulation is based on interpreting navigation functions as a sampled continuous crossing-time map that takes into account a risk measure. Replanning means that changes in the environment model can be repaired to avoid the expenses of complete planning. This helps compensating for the increased computational effort required for interpolation.