Escaping Depressions in LRTS Based on Incremental Refinement of Encoded Quad-Trees

Algorithm 1

LRTA with a lookahead of one: LRTA (, ).

(1) Initialize the heuristic: ;

(2) Reset the current state: ;

(3) while    do

(4)  Generate children one move away from state ;

(5)  Find the state with the lowest ;

(6)  Update to if is greater;

(7)  Execute the action to get to ;

(8) end