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- s 1 X 1 X
- 1 X 1 1 1
- 1 1 X 1 X
- X 1 G 1 X
- 1 1 1 1 1
- 1. start at the starting position, current = start;
- 2. Find the neighbor that has least number of neighboring obstacles (conflicts),
- 3. Update current to that neighbor state, and
- 4. repeat until goal is found.
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