For such problems, it may expand only one new node each iteration. To prevent excessive iterations and node regenerations, several variants of IDA* have been developed that set successive thresholds higher than the minimum f -cost that exceeded the previous threshold (Sarkar, Chakrabarti, Ghose, & DeSarkar, 1991; Rao, Kumar, & Korf, 1991; Wah& Shang, 1994).
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