(Simplified) Memory-bounded A

Use all available memory Expand best leafs until available memory is full When full, SMA* drops worst leaf node (highest f-value) Like RBFS backs up f-value of forgotten node to its parent Same node could be selected for expansion and deletion. SMA* solves this by expanding newest best leaf and deleting oldest worst leaf. SMA* is complete if solution is reachable, i.e. path must fit in memory Optimal if heuristic h(n) is admissible