© 2000 Todd Neller.  A.I.M.A. text figures © 1995 Prentice Hall.  Used by permission.
A*
•Recall:
–Best-First Search with f(n) = g(n) + h(n) is A*
–A* finds optimal solution if h(n) never overestimates
–A*’s serious limitation: memory requirement (often exponential)
–A*’s second limitation: keeping candidate nodes sorted (O(log N) per node, N number of nodes)