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Re:Optimizing A* for grid maps by sgift on Sunday February 22, 2015 @07:37AM (#9089180)
Not a solution but a starting point: http://en.wikipedia.org/wiki/D*

I used this for a similar problem in my computer science studies. We had a map with an unknown layout of fields, each with a different travel cost and had to drive a tour of multiple flags in the fastest way possible. It worked quite well.

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