1. Andy Xie [s3200188]

2.  Still in development  Need testing platform  Inspect the working of the planner  Simulate Environment Changes  Simulate Moving Target  Simulate Moving Source  Automated Testing

3.  GUI  Shows terrain, target and source  Shows planned path and planner’s inner workings (open/closed nodes)  Step/Run the execution  Alteration of terrain, target and source in real time  Scripting  For terrain, target and source  All can be triggered by time or event  CLI  Convenient for automated testing