Theta*

Theta* is an algorithm used for pathfinding in graph-based environments, particularly for navigation in robotics and computer games. It is an extension of the A* algorithm that aims to improve the efficiency and effectiveness of finding the shortest path around obstacles. ### Key Features of Theta*: 1. **Path Smoothing**: Unlike traditional A*, which finds a path composed of discrete waypoints, Theta* generates a smoother path by considering straight-line paths between waypoints.