This is an implementation of the Wavefront algorithm[1][2] for my study.
Note I have modified some steps.
Warning The implementation may contain mistakes.
$ python src/main.py
[1] Brock, Oliver, and Lydia E. Kavraki. "Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces." Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164). Vol. 2. IEEE, 2001.
[2] Rickert, Markus, Arne Sieverling, and Oliver Brock. "Balancing exploration and exploitation in sampling-based motion planning." IEEE Transactions on Robotics 30.6 (2014): 1305-1317.