Run FF-Replan on the problem of Figure 6.15, using a ForwardSearch algorithm that always returns the least-cost path to a goal state. What is the probability that FF-Replan will reach the goal?

350 Chapter 6 Figure 6.15: An SSP problem with five states and four actions a,b,c, and d; only action a is nondeterministic, with the probabilities shown in the figure; the cost of a and b is 1 , the cost of c and d is 100 ; the initial state is s1; the goal is s5