Maps retrieved from: http://www.movingai.com/benchmarks/ A* search implementation: https://en.wikipedia.org/wiki/A*_search_algorithm#Pseudocode https://en.wikipedia.org/wiki/Dijkstra%27s_algorithm#Using_a_priority_queue Binary heap implementation: https://en.wikipedia.org/wiki/Binary_heap#Heap_implementation Heuristics are taken from: http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html Run using ./a-star start-x start-y target-x target-y map-file 2> map-output 1> path-list