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the graph to start node
- Traverse the graph following the current path
accumulating nodes that have not yet been expanded or solved
- Pick any of
these nodes and expand it and if it has no successors call this value
FUTILITY otherwise calculate only f' for each of the successors.
- If f' is 0 then mark the node as SOLVED
- Change the value of f' for
the newly created node to reflect its successors by back propagation.
- Wherever possible use the most promising routes and if a node is marked
as SOLVED then mark the parent node as SOLVED.
- If starting
node is SOLVED or value greater than FUTILITY, stop, else repeat