diff --git a/Search-based Planning/.idea/.gitignore b/Search-based Planning/.idea/.gitignore
new file mode 100644
index 0000000..0e40fe8
--- /dev/null
+++ b/Search-based Planning/.idea/.gitignore	
@@ -0,0 +1,3 @@
+
+# Default ignored files
+/workspace.xml
\ No newline at end of file
diff --git a/Search-based Planning/.idea/Search-based Planning.iml b/Search-based Planning/.idea/Search-based Planning.iml
new file mode 100644
index 0000000..7c9d48f
--- /dev/null
+++ b/Search-based Planning/.idea/Search-based Planning.iml	
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="TestRunnerService">
+    <option name="projectConfiguration" value="pytest" />
+    <option name="PROJECT_TEST_RUNNER" value="pytest" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/Search-based Planning/.idea/inspectionProfiles/profiles_settings.xml b/Search-based Planning/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/Search-based Planning/.idea/inspectionProfiles/profiles_settings.xml	
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/Search-based Planning/.idea/misc.xml b/Search-based Planning/.idea/misc.xml
new file mode 100644
index 0000000..a2e120d
--- /dev/null
+++ b/Search-based Planning/.idea/misc.xml	
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file
diff --git a/Search-based Planning/.idea/modules.xml b/Search-based Planning/.idea/modules.xml
new file mode 100644
index 0000000..1bc9d64
--- /dev/null
+++ b/Search-based Planning/.idea/modules.xml	
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Search-based Planning.iml" filepath="$PROJECT_DIR$/.idea/Search-based Planning.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/Search-based Planning/.idea/vcs.xml b/Search-based Planning/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/Search-based Planning/.idea/vcs.xml	
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Search-based Planning/__pycache__/astar.cpython-37.pyc b/Search-based Planning/__pycache__/astar.cpython-37.pyc
new file mode 100644
index 0000000..e577f7b
Binary files /dev/null and b/Search-based Planning/__pycache__/astar.cpython-37.pyc differ
diff --git a/Search-based Planning/__pycache__/bfs.cpython-37.pyc b/Search-based Planning/__pycache__/bfs.cpython-37.pyc
new file mode 100644
index 0000000..bb9e43e
Binary files /dev/null and b/Search-based Planning/__pycache__/bfs.cpython-37.pyc differ
diff --git a/Search-based Planning/__pycache__/dijkstra.cpython-37.pyc b/Search-based Planning/__pycache__/dijkstra.cpython-37.pyc
new file mode 100644
index 0000000..2e9ea78
Binary files /dev/null and b/Search-based Planning/__pycache__/dijkstra.cpython-37.pyc differ
diff --git a/Search-based Planning/__pycache__/environment.cpython-37.pyc b/Search-based Planning/__pycache__/environment.cpython-37.pyc
new file mode 100644
index 0000000..30a3d62
Binary files /dev/null and b/Search-based Planning/__pycache__/environment.cpython-37.pyc differ
diff --git a/Search-based Planning/__pycache__/mazemods.cpython-37.pyc b/Search-based Planning/__pycache__/mazemods.cpython-37.pyc
new file mode 100644
index 0000000..f326950
Binary files /dev/null and b/Search-based Planning/__pycache__/mazemods.cpython-37.pyc differ
diff --git a/Search-based Planning/__pycache__/queue.cpython-37.pyc b/Search-based Planning/__pycache__/queue.cpython-37.pyc
new file mode 100644
index 0000000..ce8d5d7
Binary files /dev/null and b/Search-based Planning/__pycache__/queue.cpython-37.pyc differ