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Hmm. I've looked up a little more, and found a possible reason why the second condition is often left out; you can use a less efficient version of A* that always finds the correct path without that condition. However, the usually-stated algorithm requires both conditions. [http://www.cs.unm.edu/~terran/classes/cs427-s03/lectures/l05_feb04/notes.pdf These notes] describe both algorithms, and call the second condition "monotonic". [[User:Rspeer|RSpeer]] 18:04, Dec 26, 2004 (UTC)
Blah. I screwed up. The page was describing that less-efficient version all along. I moved the thing about monotonic heuristics to its own section. Sorry. [[User:Rspeer|RSpeer]] 19:23, Dec 27, 2004 (UTC)
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