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Interesting find!

Sorry for answering late again. Things have been very chaotic lately.
I won't be able to implement this into the project directly, due to potential licence issues (No licences specified).
But it is a good resource nevertheless.

Currently there are other resources I need to attend to before continuing on a update for the kit.
I will do my best to free some time in early 2019 and implement a A* solution with your given resource as reference.

Hope it is going well for you so far.

Thanks you for sharing your findings!