Question $2$:

$110$Points

The graphic on the right shows the configuration space for a robot. It is desired that the robot finds a trajectory to go from the initial points $($start$)$to the end point $g($goal$).$ To this end, a visibility graph is made and nodes a$,$ b$,$ c$,$ d$,$ e$,$ f are defined, as shown below:

Real measurements are made.$($distance$)$between each node, anu yed on the edges $($edges$).$ The heuristic that is performed consists of the distance Euclidean from each node to the target node $($g$).$ Using the $A^{**}$ algorithm, find the path that the robot must follow in order to $g$@ from $s$ to $g.$ At each step, show the list of nodes to explore $E,$ and visited nodes $V.$

Step $1$:

E $\{$To explore$\}$

$\backslash$table$[[$Node$,$Cost$],[,],[,],[,]]$

V $\{$Visited nodes$\}$

Step $2$:

$\backslash$table$[[$Node$,$Previous$],[,],[,],[,]]$

E