Use a simplified version of the crash'n turn algorithm. Try four paths at the same time. One using the LEFT_HAND rule from A to B, another using RIGHT_HAND from A to B, and the same two rules the other way, from B to A. The one that reaches the goal first is then finally chosen. This will not take too much time evaluating and one of them will probably succeed. Use a timeout feature here also so that it won't get caught up in loops.
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john@lis.pitt.edu |