Hi, I am trying to implement D* algorithm(Stentz),but I meet some difficulties in understandint it. When the robot meet a discrepancy on the way to goal,is the current robot state placed on the OPEN list or the obstacle state?In my mind,it should be robot state,but in the article Stentz ICRA'94,it said obstacle.which one? Morever,if somebody has codes about D*,share with me,all right?