http://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-034-artificial-intelligence-fall-2010/lecture-videos/lecture-5-search-optimal-branch-an

http://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-034-artificial-intelligence-fall-2010/lecture-videos/lecture-5-search-optimal-branch-and-bound-a/ http://ocw.mit.edu/courses/electrical-engineering-and-comput... AI course which goes into the details leading up to the A* algorithm (45 minutes)