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High Quality Content by WIKIPEDIA articles! Any-angle path planning algorithms search for paths on a cell decomposition of a continuous configuration space (such as a two-dimensional terrain). Consider, for example, a uniform grid with blocked and unblocked cells. Searching the corresponding visibility graph finds a shortest path from a given start vertex to a given goal vertex but is typically very slow since the number of edges can grow quadratically in the number of vertices. Searching the corresponding grid graph typically finds suboptimal paths (since, for example, the heading changes of the resulting path are constrained to multiples of 45 degrees on an eight-neighbor grid graph) but is fast since the number of edges grows no faster than linearly in the number of vertices.