Where can I find information on the D* or D* Lite pathfinding algorithm?

Wikipedia has an article on the topic: http://en.wikipedia.org/wiki/D*

Also a D* Lite implementation in C is available from Sven Koenig’s page: http://idm-lab.org/code/dstarlite.tar However I find the impenetrable math much easier to read than the C source code 😉

Another implementation of D* Lite (in C++) is available here: http://code.google.com/p/dstarlite/