 with N nodes and some random number of connections between those nodes.
		A parallel algorithm based on A* is used to find the shortest path.
	<br><br>
		This algorithm varies from serial A* in that it needs to add nodes back to
		the open set when the g estimate (shortest path from start to the node) is improved, 
		even if the node has already been "visited".  This is because nodes are added and removed 
		from the open-set in parallel, resulting in some less optimal paths being explored.
		The open-set 