Optimal ReachabilityBranch & Bound

Passed

Waiting

Final

Init

INITIAL Passed := Ø;

Waiting := {(n0,Z0,0,h0)}

BestCost := infinity

REPEAT

- pick (n,Z,c,h) in Waiting with smallest

h-value

- if n=Final then BestCost := c

- if for some Z’ Z, c’ < c

(n,Z’,c’) in Passed then STOP

- else /explore/ Add

{ (m,U,c’’,h’’) : (n,Z,c,h) =>

(m,U,c’’,h’’) , c’’ < BestCost}

to Waiting;

Add (n,Z,c) to Passed

UNTIL Waiting = Ø

n,Z’,c’

m,U,c’’,h’’

n,Z,c,h

Minimal Cost

Init -> Final ?

Ordering of Search!

BestCost

With Thomas Hune, Frits Vandraager, Ansgar Fenker

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