© 2000 Todd Neller.  A.I.M.A. text figures © 1995 Prentice Hall.  Used by permission.
IDA*
•IDASTAR (node : N, bound : B)
•IF N is a goal, EXIT algorithm
•IF N has no children, RETURN infinity
•FN = infinity
•FOR each child Ni of N, F[i] := f(Ni)
–IF f(Ni) <= B, FN := MIN(FN, IDASTAR(Ni,B))
–ELSE FN := MIN(FN, f(Ni))
•RETURN FN