Outline Optimal csPs Review of a Conflict-directed A Generating the Best Kernel Intelligent Tree Expansion Extending to Multiple Solutions Performance Comparison 3/17/2004 copyright Brian Williams, 2002 Conflict-directed A* Increasing Cost Infeasible Feasible copyright Brian Williams, 20023/17/2004 copyright Brian Williams, 2002 17 Outline • Optimal CSPs ƒ Review of A* ƒ Conflict-directed A* ƒ Generating the Best Kernel ƒ Intelligent Tree Expansion ƒ Extending to Multiple Solutions ƒ Performance Comparison 3/17/2004 copyright Brian Williams, 2002 18 Increasing Cost Feasible Infeasible Conflict-directed A*