title: Where can I find information on the D* or D* Lite pathfinding algorithm?
body: <p>There are links to some papers on D* <a href="http://www.gamedev.net/community/forums/topic.asp?topic_id=452231&amp;whichpage=1&amp;#2988568" rel="noreferrer">here</a>, but they're a bit too mathematical for me. Is there any information on D*/D* Lite more geared towards beginners?</p>