•Admissible h never
overestimates the cost to reach the goal (e.g.
route finding, sliding tile puzzle)
•h admissible Þ A is called A*
•Monotonicity of f – f doesn’t
decrease along a path
•h admissible Þ f monotonic?
•h admissible Þ pathmax equation forces monotonicity:
–f(n’) = max(f(n), g(n’)+h(n’))
•Monotonicity à search contours
