Quantitatively relating abstractness to the accuracy of admissible heuristics

Artificial Intelligence 74 (1):165-175 (1995)
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Planning in a hierarchy of abstraction spaces.Earl D. Sacerdoti - 1974 - Artificial Intelligence 5 (2):115-135.
Depth-first iterative-deepening.Richard E. Korf - 1985 - Artificial Intelligence 27 (1):97-109.
Real-time heuristic search.Richard E. Korf - 1990 - Artificial Intelligence 42 (2-3):189-211.
Planning as search: A quantitative approach.Richard E. Korf - 1987 - Artificial Intelligence 33 (1):65-88.

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