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Where can I find a proof for the following theorem:

Theorem: If h(n) is consistent, A* using GRAPH-SEARCH is optimal


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First, we have to define these functions:

  • g(n) = it is the cost to reach node from start node
  • f(n) = g(n) + h(n)


  1. Verify that the values of f(n) along any path are nondecreasing if h(n) is consistent.
  2. Confirm that whenever A* selects a node for expansion, the optimal path to that node has been found.
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