diff --git a/Search-based Planning/.idea/Search-based Planning.iml b/Search-based Planning/.idea/Search-based Planning.iml
index 5965bde..c444878 100644
--- a/Search-based Planning/.idea/Search-based Planning.iml	
+++ b/Search-based Planning/.idea/Search-based Planning.iml	
@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7 (Search-based Planning)" jdkType="Python SDK" />
+    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file
diff --git a/Search-based Planning/.idea/misc.xml b/Search-based Planning/.idea/misc.xml
index 0e7ac62..a2e120d 100644
--- a/Search-based Planning/.idea/misc.xml	
+++ b/Search-based Planning/.idea/misc.xml	
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (Search-based Planning)" project-jdk-type="Python SDK" />
+  <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/workspace.xml b/Search-based Planning/.idea/workspace.xml
index 93aa0ea..d6d7a2c 100644
--- a/Search-based Planning/.idea/workspace.xml	
+++ b/Search-based Planning/.idea/workspace.xml	
@@ -20,20 +20,12 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/.idea/shelf/Uncommitted_changes_before_Update_at_6_27_20,_12_26_AM_[Default_Changelist]/shelved.patch" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/.idea/shelf/Uncommitted_changes_before_Update_at_6_27_20__12_26_AM__Default_Changelist_.xml" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/../nano.save" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/../nano.save.1" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/Search-based Planning.iml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/Search-based Planning.iml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/shelf/Uncommitted_changes_before_Update_at_6_27_20__12_26_AM__Default_Changelist_.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/shelf/Uncommitted_changes_before_Update_at_6_27_20__12_26_AM__Default_Changelist_.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/a_star.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/ara_star.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/bfs.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/dfs.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/dijkstra.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/env.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/plotting.py" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/queue.py" beforeDir="false" />
     </list>
+    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -65,6 +57,18 @@
     <property name="restartRequiresConfirmation" value="false" />
     <property name="settings.editor.selected.configurable" value="com.jetbrains.python.configuration.PyActiveSdkModuleConfigurable" />
   </component>
+  <component name="RunDashboard">
+    <option name="ruleStates">
+      <list>
+        <RuleState>
+          <option name="name" value="ConfigurationTypeDashboardGroupingRule" />
+        </RuleState>
+        <RuleState>
+          <option name="name" value="StatusDashboardGroupingRule" />
+        </RuleState>
+      </list>
+    </option>
+  </component>
   <component name="RunManager" selected="Python.ara_star">
     <configuration name="a_star" type="PythonConfigurationType" factoryName="Python" temporary="true">
       <module name="Search-based Planning" />
@@ -199,12 +203,13 @@
       <map>
         <entry key="MAIN">
           <value>
-            <State />
+            <State>
+              <option name="COLUMN_ORDER" />
+            </State>
           </value>
         </entry>
       </map>
     </option>
-    <option name="oldMeFiltersMigrated" value="true" />
   </component>
   <component name="WindowStateProjectService">
     <state x="819" y="314" width="424" height="482" key="FileChooserDialogImpl" timestamp="1592933974409">
diff --git a/Search-based Planning/Search_2D/__pycache__/env.cpython-37.pyc b/Search-based Planning/Search_2D/__pycache__/env.cpython-37.pyc
index 1265f1c..a03b5a8 100644
Binary files a/Search-based Planning/Search_2D/__pycache__/env.cpython-37.pyc and b/Search-based Planning/Search_2D/__pycache__/env.cpython-37.pyc differ
diff --git a/Search-based Planning/Search_2D/__pycache__/plotting.cpython-37.pyc b/Search-based Planning/Search_2D/__pycache__/plotting.cpython-37.pyc
index 8ef4f0e..8a911c1 100644
Binary files a/Search-based Planning/Search_2D/__pycache__/plotting.cpython-37.pyc and b/Search-based Planning/Search_2D/__pycache__/plotting.cpython-37.pyc differ
diff --git a/Search-based Planning/Search_2D/__pycache__/queue.cpython-37.pyc b/Search-based Planning/Search_2D/__pycache__/queue.cpython-37.pyc
index e83b463..04c0af7 100644
Binary files a/Search-based Planning/Search_2D/__pycache__/queue.cpython-37.pyc and b/Search-based Planning/Search_2D/__pycache__/queue.cpython-37.pyc differ
diff --git a/Search-based Planning/gif/ARA_star.gif b/Search-based Planning/gif/ARA_star.gif
new file mode 100644
index 0000000..67a3898
Binary files /dev/null and b/Search-based Planning/gif/ARA_star.gif differ