When each algorithm is best suited: Key Algo Best for 1 D Lite* Dynamic obstacles (incremental replanning, no need to re-search from scratch) 2 A* General-purpose shortest path 3 BiA* Faster than A* on open grids (searches from both ends) 4 JPS Open corridors with few obstacles (prunes symmetric paths via jump points) 5 Theta* Any-angle paths with line-of-sight shortcuts (smoother than grid-bound paths)