From Fabrice Rossi, a simple visualization of A* vs Dijkstra pathfinding over XML-defined maps. Pictured is a terrain area that ATR5 will be expected to traverse. Green (foliage), black (structures), and purple are impassable. Grey is leveled roadway, which is less costly to traverse than unleveled ground (white). Both paths begin at a point just north of the smaller structure (black block). Note that moving the goal a few meters southwest shifts the optimal path around the southernmost treerow. The right side of each screenshot shows the expanding goal search wavefront (blue) and the area that has already been searched (green).