# A Formal Basis for the Heuristic Determination of Minimum Cost Paths

*Source* · `src-hart-1968-astar` · status: **n/a**

| field | value |
|---|---|
| kind | Peer-reviewed paper |
| authors | Peter E. Hart, Nils J. Nilsson, Bertram Raphael |
| venue | IEEE Transactions on Systems Science and Cybernetics 4(2), 100-107 |
| date | 1968-07 |
| url | https://doi.org/10.1109/TSSC.1968.300136 |
| doi | 10.1109/TSSC.1968.300136 |
| accessed | 2026-10-24 |

## Notes

Introduces the A* search algorithm: nodes are expanded in order of path cost so far plus a heuristic estimate of remaining cost; with an admissible heuristic the first path found to the goal has minimum cost.

## Backlinks (computed)

**cited by:** [Agent pathfinding](../mechanic/agent-pathfinding.md)

## Citation

Peter E. Hart, Nils J. Nilsson, Bertram Raphael (1968-07). *A Formal Basis for the Heuristic Determination of Minimum Cost Paths*. IEEE Transactions on Systems Science and Cybernetics 4(2), 100-107 https://doi.org/10.1109/TSSC.1968.300136

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Provenance: created in run `2026-10-24-taxonomy-m3`.