Yea, I've got all of those papers. But I usually find myself looking up every second mathematical term in German and think "oohhh thats what it is". What I think would help me is if I could find a paper on the normal A* algorithm written in that style. Since I've already worked with that (with German tutorials aswell), it'd be easier to find concepts that I might already be familiar with. Usually things I'm interested in are rather well documented, but not in this case...at least no "idiot-version" if you know what I mean. I'm good at maths, but I guess if all fails I'll just have to read it a bunch of times (which is what I'm trying to avoid right now ;)).