$[20$ pts$.]$ An office grid map with obstacles $($shaded boxes$)$

shows the robot $($arrow$-$head$)$ and the charging station $($pin

symbol with a circle$).$ Assume traversing each cell has a unit

cost$.$

a$)$ Using the A$*$ star algorithm starting at the $(2,2)$ grid cell

$($top left is the origin$)$ compute the total cost through

each possible neighbor nodes, in the table show the

closed$/$open nodes, heuristic $($take Euclidean distance$)$

and the total costs only to close the start cell, one

iteration only.

b$)$ Assume that robot is in Write the cost to the charging

point on the map for the $4-$connected navigation to

invoke the wavefront planner. Rephrase your search

algorithm.