Can you please let me know the model of your Heuristic Function, is it the same as the one in the DolgovEtal_2008 paper or you used something different? If it is the same as the one in the paper (using Voronoi Fields), then can you clarify Equation 1 in the "Path-Cost Function Using the Voronoi Field" section in the paper (PFA for the equation)?
Can you please let me know the model of your Heuristic Function, is it the same as the one in the DolgovEtal_2008 paper or you used something different? If it is the same as the one in the paper (using Voronoi Fields), then can you clarify Equation 1 in the "Path-Cost Function Using the Voronoi Field" section in the paper (PFA for the equation)?
Thanks in Advance, Tschuss :)