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mediumAI-checkedSearch & Planning

Compared with A* using the same admissible heuristic, what does iterative deepening A* (IDA*) gain and what does it pay?

Memory linear in the path depth, paid for by re-expanding nodes1
Fewer node expansions than A*, paid for by storing more nodes in memory2
No need for a heuristic, paid for by losing completeness3
Faster and smaller, paid for by possibly suboptimal paths4

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