Wolfram Demonstrations Projecthttp://demonstrations.wolfram.com/An Open Resource of Interactive Mathematica VisualizationsCopyright 2009 Wolfram Demonstrations Project & ContributorsBreadth-First Search Robot Motion Planninghttp://demonstrations.wolfram.com/BreadthFirstSearchRobotMotionPlanning/]]>http://demonstrations.wolfram.com/BreadthFirstSearchRobotMotionPlanning/