##Combing anytime weighted search, i.g. RWA*, AWA*, ARA*, with sampling-based planning techonolgies,like RRT* and BIT*.
##This method is going to quickly find the first solution, and then get better and better solutions with additional time until it converges to an optimal solution from a start state to the goal state.
##ARA* is an anytime weighted heuristic search adjusting its performence bound on sufficient search time.
##AWA* is an anytime weighted heuristic search finding a sequence of improved path solutions and eventually converges to an optimal solution.
##RWA* is an anytime weighted heuristic search restarting the new search from the start state to the goal state to overcome low-h bias. It runs iterated WA* with readucing weights, always re-expanding states when it meets a shorter path.