Algorithm 3 Rewire(G, xnew, Xnear)
1:	for each xnear ∈ Xnear do
2:	σ ← Connect(xnew, xnear);
3:	if Cost(xnew) + Cost(σ) < Cost(xnear) then
4:	if CollisionFree(σ) then
5:	G ← Reconnect(G, xnew, Xnear, σ);
6:	end if
7:	end if
8:	end for
9:	returnG;