 Consistent heuristic

A heuristic function is consistent if $h(g)=0$ at every goal andfor every permitted transition $s\stackrel{a}{\to }{s}^{\prime }$ with step cost $c(s,a,s^{\prime })$. Summing these inequalities along a finite route to a goal gives $h(s)\le$ its total cost. Taking the minimum over such routes proves that every consistent heuristic is an admissible heuristic.