first submission

function [thrustRow, thrustCol] = solver(chart, aIndex, bIndex, maxThrottle)
	thrustRow = [];
	thrustCol = [];
	
	[a.x a.y] = ind2sub(size(chart(:,:,1)), aIndex);
	[b.x b.y] = ind2sub(size(chart(:,:,2)), bIndex);
	chrtSize = size(chart(:,:,1));
	
	MAX_ITER = 500;
	
	pos = [a.x a.y];
	goal = [b.x b.y];
	t = [0 0];							% thrust velocity at current position
	isDone = false;
	iter = 0;
	searchFwdDone = false;
	while ~isDone
		% wind velocity at current position
		w = [chart(pos(1),pos(2),1) chart(pos(1),pos(2),2)];
		v = w + t;						% current velocity
		
		[moves npos] = getAllPossibleMotorMoves(maxThrottle, pos, chrtSize, v);
		if isempty(moves), return, end
		num = size(moves,1);
		
		switch getChoiceProbabilisticly([0.9 0.07 0.025 0.005])
			case 1
				% distance from goal + cost of motor moves
				cost = sum(bsxfun(@minus, goal, npos).^2,2) + sum(abs(moves),2);
				[cost,ord] = sort(cost);		% sort smaller to larger

			case 2
				% distance from goal + cost of motor moves
				cost = sum(bsxfun(@minus, goal, npos).^2,2) + sum(abs(moves),2);
				[cost,ord] = sort(cost);		% sort smaller to larger
				
				N = min(randi([2 5]),num);				% top-N
				ord(1:N) = ord( randperm(N) );			% shuffle top-N
				
			case 3
				% find the move with the least cost (only motor cost)
				cost = sum(abs(moves),2);
				[cost,ord] = sort(cost);
				
			case 4
				% random order
				ord = randperm(num);
				
		end
		
		moves = moves(ord,:);
		npos = npos(ord,:);
		
		% take the first of possible moves (sorted according to above)
		pos = npos(1,:);
		t = moves(1,:);
		
		thrustRow(end+1) = t(1);
		thrustCol(end+1) = t(2);
		iter = iter + 1;
		
		% ending conditions: max iterations
		if iter>=MAX_ITER
			isDone = true;
			if ~searchFwdDone, iter = 0; end
		end
		% ending conditions: goal reached
		if all(pos==goal)
			isDone = true;
		end
		% ending conditions: no change in position
		if iter>=2 && ...
				( thrustRow(end-1)==thrustRow(end) && ...
					thrustCol(end-1)==thrustCol(end) );
			isDone = true;
		end
		% forward-backward
		if isDone && ~searchFwdDone
			isDone = false;
			searchFwdDone = true;
			goal = [a.x a.y];
		end
	end
end

function [moves npos] = getAllPossibleMotorMoves(maxThrottle, pos, chrtSize, v)
	% generate all combinations of motor velocities
	[X Y] = meshgrid(-maxThrottle:maxThrottle,-maxThrottle:maxThrottle);
	moves = [X(:) Y(:)];
	%clear X Y
	
	% corresponding ending locations
	%npos = bsxfun(@plus, moves, pos+v);
	npos = moves + repmat(pos+v, [size(moves,1) 1]);

	% keep only valid moves in terms of throttle
	idx = ( sum(abs(moves),2) <= maxThrottle );
	moves = moves(idx,:);
	npos = npos(idx,:);

	% keep only valid moves in terms of grid position
	idx = ( 1<=npos(:,1) & npos(:,1)<=chrtSize(1) & ...
			1<=npos(:,2) & npos(:,2)<=chrtSize(2) );
	moves = moves(idx,:);
	npos = npos(idx,:);
end

function choice = getChoiceProbabilisticly(probs, N)
	if nargin < 2, N=1; end
	
	%choice = randsample(numel(probs), N, true, probs);
	[~,choice] = histc(rand(1,N), cumsum([0;probs(:)./sum(probs)]));
	choice = choice(:);
end