Position Paper: Using Early Goal Test in A*

Abstract

This paper focuses on the stopping condition of A*. Traditionally, A* is described such that the goal test is done oncea node is chosen for expansion (A*-LATE). An alternativeway is to perform the goal test when a node is generated (A*-EARLY). In this position paper we compare the two approaches from pedagogical and practical aspects and advocatefor teaching and using A*-EARLY.