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Optimality of A* Search
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A* Search, Admissible heuristic, Consistent heuristic, Optimal, Complete, Optimally efficient, F(n) value along any path is non-decreasing, If a node is selected for expansion the optimal path to it has been reached, A* selects node in non-decreasing order of f(n), All nodes having f(n) value less than optimal cost are selected
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