Experiment with Polyanya based path finding

[Indy2222]

Polyanya.pdf

Modification of current path finding algorithm should be simple since the algorithm used is very similar to Polyanya. The reasons to migrate to Polyanya are twofold:

• Polyanya always finds an optimal path,
• the algorithm is peer-reviewed and well described in a paper (thus more approachable by new contributors).

Make sure that the algorithm is fast enough.

We cannot use Polyanya as is, since we need path to distance and incomplete path search as well. Simple modifications to Polyanya would work though.