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Recently, several researchers have found that cost-based satisficing searchwith A* often runs into problems. Although some "work arounds" have beenproposed to ameliorate the problem, there has been little concerted effort topinpoint its origin. In this paper, we argue that the origins of this problemcan be traced back to the fact that most planners that try to optimize costalso use cost-based evaluation functions (i.e., f(n) is a cost estimate). Weshow that cost-based evaluation functions become ill-behaved whenever there isa wide variance in action costs; something that is all too common in planningdomains. The general solution to this malady is what we call a surrogatesearch,where a surrogate evaluation function that doesn't directly track the costobjective, and is resistant to cost-variance, is used. We will discuss somecompelling choices for surrogate evaluation functions that are based on sizerather that cost. Of particular practical interest is a cost-sensitive versionof size-based evaluation function -- where the heuristic estimates the size ofcheap paths, as it provides attractive quality vs. speed tradeoffs

Surrogate Search As a Way to Combat Harmful Effects of Ill-behaved Evaluation Functions