Please read the question carefully and don't put the same answer in this site. Please solve it and use clear hand writing + Fill the table.

Figure 1 shows a robot navigation field, where the red square (d2) is the robot, and green square (b7) is the goal. The shade squares (such as b2, c2, etc.) are obstacles. The robot is not allowed to move in diagonal line. Please use A* search to find the path from d2 to c7 (Using Manhattan distance as the heuristic function)

1. Report nodes in the fringe (including their f(N) values), in the orders they are included in the fringe. (Using table format showing below. Please add rows if needed)

2. Report the order of the nodes being expanded

3. Report the final path from d2 to b7

Fringe	Node visited/expanded

\begin{tabular}{|c|c|c|c|c|c|c|c|c|} \hlinea1 & a2 & a3 & a4 & a5 & a6 & a7 & a8 & a9 \\ \hline b1 & b2 & b3 & b4 & b5 & b6 & b7 & b8 & b9 \\ \hline c1 & c2 & c3 & c4 & c5 & c6 & c7 & c8 & c9 \\ \hline d1 & d2 & d3 & d4 & d5 & d6 & d7 & d8 & d9 \\ \hline e1 & e2 & e3 & e4 & e5 & e6 & e7 & e8 & e9 \\ \hline \end{tabular}