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→Алгоритм D*
'''CalcKey'''(s):
return [<tex>min(g(s);rhs(s)) + h(sstart;s)</tex>;<tex>min(g(s); rhs(s))</tex>];
'''Initialize'''():
U = null;
for all <tex>s 2 \in S </tex> <tex>rhs(s) = g(s) = 1;</tex> <tex>rhs(sgoals_{goal}) = 0;</tex>
U.Insert(sgoal;CalcKey(sgoal));
