Algorithm 1. Path finding algorithm

Input: s = seed node, L = # of nodes in final path, and P = maximum # of candidate paths

Initialize list of candidate paths {p} = {{s,Cost(s)}}

for L-1 iterations

Grow

Initialize new list of candidate paths{q}={ }

for each candidate path in {p}

Find child nodes of p, {c} = {n,Cost(n, p)}

for each node in {c}

Add new path to list {q} = {q} | (p + c)

end

end

Prune

Sort candidate paths in {q} by increasing path cost

Update $\left\{\mathit{p}\right\}={\left\{\mathit{q}\right\}}_{\mathbf{1}}^{\mathit{P}}$

end

Output: p1