Dstar Lite is a C++ implementation of the D* Lite algorithm as explained in [Koenig, 2002]. This is the non-optimized version as explained in Figure 5 of the paper. There are a few minor modifications to this code to improve computation time and path distance. This is a very simple piece of software...

Pathfinding algorithm for games, available in two ports: C++ and Java.

Project of AI2009 class at Federal University of Itajuba - Brazil.