
## 3.2.1  Planning And Search

$$g\;\in\;G$$
$$|S||\bigstar\bigstar||$$
$$v\,a\,l u\,e$$
$${\mathcal{S}}$$
$$\begin{array}{r l}{f o r\,w a\,r d}&{}&{{}\quad b a c k w a\,r d}\end{array}$$

Sinit g E G
cause

$$p r e d\,e c e s\,s o\,r$$

![0_image_0.png](0_image_0.png)

Sinit

$$g r a p h{\mathrm{-}}s\,e a\,r c h$$
$$a\;\;p r i o r i$$

h h