It uses a knowledge-plus-heuristic cost function of node (usually denoted ) to determine the order in which the search visits nodes in the tree. The cost function is a sum of two functions:

- the past path-cost function, which is the known distance from the starting node to the current node (usually denoted )
- a future path-cost function, which is an admissible "heuristic estimate" of the distance from to the goal (usually denoted ).

## Pseudocode

function A*(start,goal) closedset := the empty set // The set of nodes already evaluated. openset := {start} // The set of tentative nodes to be evaluated, initially containing the start node came_from := the empty map // The map of navigated nodes. g_score[start] := 0 // Cost from start along best known path. // Estimated total cost from start to goal through y. f_score[start] := g_score[start] + heuristic_cost_estimate(start, goal) while openset is not empty current := the node in openset having the lowest f_score[] value if current = goal return reconstruct_path(came_from, goal) remove current from openset add current to closedset for each neighbor in neighbor_nodes(current) tentative_g_score := g_score[current] + dist_between(current,neighbor) if neighbor in closedset if tentative_g_score >= g_score[neighbor] continue if neighbor not in openset or tentative_g_score < g_score[neighbor] came_from[neighbor] := current g_score[neighbor] := tentative_g_score f_score[neighbor] := g_score[neighbor] + heuristic_cost_estimate(neighbor, goal) if neighbor not in openset add neighbor to openset return failure function reconstruct_path(came_from, current_node) if came_from[current_node] in set p := reconstruct_path(came_from, came_from[current_node]) return (p + current_node) else return current_node

## Complexity

The time complexity of A* depends on the heuristic. In the worst case, the number of nodes expanded is exponential in the length of the solution (the shortest path), but it is polynomial when the search space is a tree, there is a single goal state, and the heuristic function*h*meets the following condition:

from wikipedia

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