Please, help me to answer these questions.

1. In Dijkstar, how is the fringe set related to the closed set (aka visited set)?

2. In a binary min heap, when the current minimum is removed what actions are taken to restore the

heap.

3. Like Dijkstar the standard backtracking path finding algorithm does not use the position of the

goal. How could you modify that algorithm to use the goal information in a way that can often

(and definitely not always) make the algorithm find the goal faster?

4. Explain why D* plots the path from the goal to the start.

5. When should one check the contact manifold?