Implement diverse best first search based on
"Tatsuya Imai and Akihiro Kishimoto. A novel technique for avoiding plateaus of
greedy best- first search in satisficing planning. In Wolfram Burgard and Dan
Roth, editors, Proceedings of the Twenty-Fifth AAAI Conference on Artificial
Intelligence (AAAI 2011), pages 985–991. AAAI Press, 2011"
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