[faust1706]

To add context to this because I feel most people don't understand the significance of this:

Marlow (re)created a n dimensional path finding algorithm that is magnitudes times faster than the standard a* algorithm. While the path constructed is virtually never the most optimal path, it finds the path fast enough such that it can be implemented in real time and does not matter how refined the grid is because it uses a floating point grid at all times. With a trajectory smoother algorithm, a discrete path using this RRT (rapidly exploring random tree) may be found, and then smoothed using gradient descent in real time.

This is what the robots in the DARPA robotics competition were doing in real time when they were climbing over debris or getting their hand in position to turn a valve, except the search space had many more dimensions than 2.