Consider the graph shown below. The paths have weights assigned to them and the numbers next to the nodes are the heuristic estimates. All paths are undirected. In this question assume A to be the start node and G to be the goal node. Run A* search on the graph using an expanded list. At each step, show the path to the node that is being expanded, the length of the actual path and the total estimated cost of the path (actual + heuristic). For your answer, make a table with three headings - Path to Current Node, Length of Path and Total Estimated Cost.[8] Problem 3: a) Is the heuristic given in Question 2 admissible and/or consistent? Explain both of your choices. [4] b) Did the A* search in Question 2 find an optimal path? If it did, explain why? If it did not, explain how the heuristic could be changed to get the optimal path. [4]