# D* Lite Algorithm

Originally introduced through this article

D* Lite’s is more simple than A* or D*, and as such it can be implemented with fewer lines of code.

Simplicity is your friend when trying to construct a functioning robotic system.

Nodes are processed in order of increasing objective function value, where two estimates are maintained per node:

- $g$: the objective function value
- $rhs$: one-step lookahead of the objective function value

The priority of a node on this list is based on: $min(g(s),rhs(s))+heuristic$