I think it's still A*, but with a better heuristic than straight line distance (the simplified-map path). From the summary near the end: "we are still essentia

I think it's still A*, but with a better heuristic than straight line distance (the simplified-map path). From the summary near the end: "we are still essentially using the same old pathfinder we've been using for years now, only with an upgraded heuristic function."