Robot globally replans h=4 h=2 h=1 h h=2 h=1 h=0 E G h=4 h=3 BDHK h=5 h=4 h=5 s A Rerun Single Source Shortest path from Goal Stop when robot location reachedRobot Globally Replans J M N O E I L G B D H K S A C F h = 3 h = 2 h = 3 h = 5 h = 4 h = 3 h = 4 h = 4 h =5 h = 1 h = 0 h = 2 h = 1 h = 1 • Rerun Single Source Shortest path from Goal. • Stop when robot location ( ) reached