1. In a computer system having a processing unit and memory unit, a computer-implemented method of generating a path through a lattice, the lattice comprising at least a start point and end point, the method comprising: a) performing a search on said lattice to identify a first path; b) designating a first portion of said lattice and a second portion of said lattice; c) performing a search procedure on said first portion of the lattice to identify a second path; d) performing a search procedure on said second portion of the lattice to identify a third path; e) performing a search procedure on a third portion of the lattice to identify a fourth path, wherein said third portion comprises at least a part of said first portion and at least a part of said second portion; f) iteratively performing steps (b) to (e) while a condition is true; and g) returning a path through said lattice, wherein said path is a combination of said second path, said third path, and said fourth path.