<s>
Theta*	B-Algorithm
is	O
an	O
any-angle	B-General_Concept
path	I-General_Concept
planning	I-General_Concept
algorithm	O
that	O
is	O
based	O
on	O
the	O
A*	B-Protocol
search	I-Protocol
algorithm	I-Protocol
.	O
</s>
<s>
It	O
can	O
find	O
near-optimal	O
paths	O
with	O
run	O
times	O
comparable	O
to	O
those	O
of	O
A*	B-Protocol
.	O
</s>
<s>
For	O
the	O
simplest	O
version	O
of	O
Theta*	B-Algorithm
,	O
the	O
main	O
loop	O
is	O
much	O
the	O
same	O
as	O
that	O
of	O
A*	B-Protocol
.	O
</s>
<s>
Compared	O
to	O
A*	B-Protocol
,	O
the	O
parent	O
of	O
a	O
node	O
in	O
Theta*	B-Algorithm
does	O
not	O
have	O
to	O
be	O
a	O
neighbour	O
of	O
the	O
node	O
as	O
long	O
as	O
there	O
is	O
a	O
line-of-sight	O
between	O
the	O
two	O
nodes	O
.	O
</s>
