Convert and Modify a C++ code to Matlab code by Erat

Hi freelancer, I need a matlab code written for D* Lite algorithm. The algorithm and C++ code are available. Algorithm: Figure 4 of this paper –> http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf… (Budget: $30-$250 USD, Jobs: Algorithm, C Programming, C++ Programming, Matlab & Mathematica)