Conflict-directed A* Increasing Cost Conflict 1 Infeasible ○ Conflict 2 Feasible 3/17/2004 opyright Brian Williams, 2002 Conflict-directed A* Increasing Cost Conflict 1 Infeasible oO Conflict 2 Feasible copyright Brian Williams, 20023/17/2004 copyright Brian Williams, 2002 23 Increasing Cost Feasible Infeasible Conflict 3 Conflict 2 Conflict 1 Conflict-directed A* 3/17/2004 copyright Brian Williams, 2002 24 Increasing Cost Infeasible Conflict 3 Conflict 2 Conflict 1 Conflict-directed A* Feasible