Thanks for running these examples. If there were timings for the final algorithm in the article I missed them, so it was hard to tell how much A* was really spe

Thanks for running these examples. If there were timings for the final algorithm in the article I missed them, so it was hard to tell how much A* was really speeding things up. You have convinced me that it is worth specializing for a particular goal vs. solving all goals simultaneously, at least when the number of goals is 5.