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Changes may occur in static maps due to introduction of obstacles, other agents or some other changes in the environment that render the path unusable. As there is a need to address efficient re-planning in dynamic scenarios, in this paper, we investigate an algorithm that can store a road-map of the environment and use it to efficiently recompute a path to the destination in the advent of such environmental changes. Finally, we compare this algorithm with other standard path planning algorithms like A* and RRT, to study the performance increase in computation time and path length obtained by leveraging the same.