Question: A search can use a heuristic function that estimates the cost from a node to a goal. If a graph satisfies some reasonable condition (see

A∗ search can use a heuristic function that estimates the cost from a node to a goal. If a graph satisfies some reasonable condition (see Proposition 3.2 (page 112)) and the heuristic is admissible, A∗ is guaranteed to find a lowest-cost path to a goal if one exists.

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