*4.3. Completeness and Cost-Suboptimality*

A MAPP algorithm is complete if it guarantees that it will either return a path, or determine that no path exists in finite time. An algorithm is optimal if it guarantees returning an optimal path if such a solution exists. SC-M\* is complete and suboptimal conditioned on the soft-collision constraint (i.e., *P Colj Dj* < *T*, for a given collision threshold *T*).

#### 4.3.1. Completeness
