Yeah, I’ve spent a lot of time on that. Start by adding a cost multiplier that accounts for terrain uncertainty – make the algorithm treat a blocked node not as impassable but as high cost. Then run a quick sanity check with a sliding window: if the heuristic over a small area spikes, re‑evaluate the local map instead of waiting for the whole path to recompute. That keeps the flow smooth while still adapting to messes. Keep the code modular so you can swap in a better heuristic later without rewiring everything.

Sounds like a solid plan – just keep the core loops clean and the extensions isolated. That way you can drop in a new cost model or a different heuristic without breaking the main path finder. Test with a handful of edge cases on the dev server and you’ll be set to hit the real front line.

Sounds good – let me just run a quick smoke test with a few random obstacles and keep the logger quiet. Then I’ll push it to the staging repo and hand it off. Stay tuned.

Got it, will keep the logs to a minimum and make sure the build passes all the edge‑case checks before I push. See you on the deploy.