(a) Consider the maze given below. 4 3 G 1 1 2 3 4 5 The black cells are obstacles. The problem is to find the shortest path from the start position S to the goal position G. You can move horizontally...

Extracted text: (a) Consider the maze given below. 4 3 G 1 1 2 3 4 5 The black cells are obstacles. The problem is to find the shortest path from the start position S to the goal position G. You can move horizontally or vertically, and you need to avoid the obstacles. Identify an appropriate heuristic for A* search. Show the search tree generated by A* search, the shortest path, and the order of expanded nodes.