Algorithm 2. Adaptive sector search strategy
1	nnearest ← nnearest;
2	a ← Len(T)
3	A ← Surrounding nodes(nnearest, S)
4	for each nref ∈ A do
5	if Collision-free(nnearest, nref, Sobs) then
6	nnew ← nref;
7	T ← T ∪{nnew};
8	E ← E ∪{(nnearest, nnew)};
9	break
10	b ← Len(T)
11	if b ! = a then
12	nnew ← Sample sector(nnearest, ngoal, p);
13	if Collision-free(nnearest, nnew, Sobs) then
14	T ← T ∪{nnew};
15	E ← E ∪{(nnearest, nnew)};
16	else then
17	nnew = None;
18	Return nnearnest, nnew;