test 2

h to attain better performance,^[1] although other work has found A* to be superior to other approaches.^[2]

Peter Hart, Nils Nilsson and Bertram Raphael of Stanford Research Institute (now SRI International) first described the algorithm in 1968.^[3] It is an extension of Edsger Dijkstra's 1959 algorithm. A* achieves better time performance by using heuristics.

Contents

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• 1 Description
• 2 History
• 3 Process
• 4 Pseudocode
  • 4.1 Example
• 5 Properties
  • 5.1 Special cases
  • 5.2 Implementation details
• 6 Admissibility and optimality
  • 6.1 Bounded relaxation
• 7 Complexity
• 8 Applications
• 9 Variants of A*
• 10 See also
• 11 References
• 12 Further reading
• 13 External links