FirstFT: the day's biggest stories
"These are objects, but they all relate to people," Machin said. "It's all about the people who lived in these areas going back thousands of years and we can start writing the stories about their lives and what they can tell us."
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If the A* calculation for a shortcut (in Step 3) finds it's now impassable, or if its actual detailed cost is significantly different (e.g., 20%) from the pre-calculated shortcut value: