Simple Explicit Formulas for the Frame-Stewart Numbers

Several different approaches to the multi-peg Tower of Hanoi problem are equivalent. One of them is Stewart's recursive formula ¶¶ S (n, p) = min {2S (n₁, p) + S (n-n₁, p-1) | n₁, n-n₁ ? mathbbZ⁺}. S (n, p) = min {2S (n_1, p) + S (n-n_1, p-1)mid n_1, n-n_1 in mathbb{Z}^+}. ¶¶In the present paper we significantly simplify the explicit calculation of the Frame-Stewart's numbers S(n, p) and give a short proof of the domain theorem that describes the set of all pairs (n, n₁), such that the above minima are achieved at n₁.