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This program demonstrates 4 different approximate cell decomposition path finding methods. In particular, it demonstrates basic grid decomposition, Quadtree decomposition, hierarchical rectangloid decomposition, and probabilistic cell decomposition. I wrote this program for a 1 semester class, of which it was only a part. Because of this, I wrote much of it under a sever time constraint, so don't expect a whole lot of documentation. The source code is, of course, available (under the LGPL).