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Sp22-Bse-009 AI Lab # 7 (Lab Assign1)

The document describes an activity to implement A* search algorithm to find the optimal path between initial and goal nodes on a graph. Key steps include defining Node class, finding minimum cost node, tracing back parents to get the solution path, and using Euclidean distance heuristic to guide the search.

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28 views14 pages

Sp22-Bse-009 AI Lab # 7 (Lab Assign1)

The document describes an activity to implement A* search algorithm to find the optimal path between initial and goal nodes on a graph. Key steps include defining Node class, finding minimum cost node, tracing back parents to get the solution path, and using Euclidean distance heuristic to guide the search.

Uploaded by

ayeshaefgh60
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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COMSATS University, Islamabad

Department of Computer Science

Student Name: Ayesha Siddiqa Reg. SP22-BSE-009


Subject: Artificial Intelligence Class/Section: BSE-5A
Date: 3/25/2023 Lab # 7

Activity # 01:
Import math

class Node:
def __init__(self, state, parent, actions, totalCost, heuristic):
self.state = state
self.parent = parent
self.actions = actions
self.totalCost = totalCost
self.heuristic = heuristic

def findMin(frontier):
minV = math.inf
node = None
for i in frontier:
if minV > frontier[i][1]:
minV = frontier[i][1]
node = i
return node

def actionSequence(graph, initialState, goalState):


solution = [goalState]
currentParent = graph[goalState].parent
while currentParent is not None:
solution.append(currentParent)
currentParent = graph[currentParent].parent
solution.reverse()
return solution
def Astar():
initialState = 'A'
goalState = 'Y'

graph = {
'A': Node('A', None, [('F', 1)], 0, (0, 0)),
'B': Node('B', None, [('G', 1), ('C', 1)], 0, (2, 0)),
'C': Node('C', None, [('B', 1), ('D', 1)], 0, (3, 0)),
'D': Node('D', None, [('C', 1), ('E', 1)], 0, (4, 0)),
'E': Node('E', None, [('D', 1)], 0, (5, 0)),
'F': Node('F', None, [('A', 1), ('H', 1)], 0, (0, 1)),
'G': Node('G', None, [('B', 1), ('J', 1)], 0, (2, 1)),
'H': Node('H', None, [('F', 1), ('I', 1), ('M', 1)], 0, (0, 2)),
'I': Node('I', None, [('H', 1), ('J', 1), ('N', 1)], 0, (1, 2)),
'J': Node('J', None, [('G', 1), ('I', 1)], 0, (2, 2)),
'K': Node('K', None, [('L', 1), ('P', 1)], 0, (4, 2)),
'L': Node('L', None, [('K', 1), ('Q', 1)], 0, (5, 2)),
'M': Node('M', None, [('H', 1), ('N', 1), ('R', 1)], 0, (0, 3)),
'N': Node('N', None, [('I', 1), ('M', 1), ('S', 1)], 0, (1, 3)),
'O': Node('O', None, [('P', 1), ('U', 1)], 0, (3, 3)),
'P': Node('P', None, [('O', 1), ('Q', 1)], 0, (4, 3)),
'Q': Node('Q', None, [('L', 1), ('P', 1), ('V', 1)], 0, (5, 3)),
'R': Node('R', None, [('N', 1), ('S', 1)], 0, (0, 4)),
'S': Node('S', None, [('N', 1), ('R', 1), ('T', 1)], 0, (1, 4)),
'T': Node('T', None, [('S', 1), ('U', 1), ('W', 1)], 0, (2, 4)),
'U': Node('U', None, [('O', 1), ('T', 1)], 0, (3, 4)),
'V': Node('V', None, [('Q', 1), ('Y', 1)], 0, (5, 4)),
'W': Node('W', None, [('T', 1)], 0, (2, 5)),
'X': Node('X', None, [('Y', 1)], 0, (4, 5)),
'Y': Node('Y', None, [('V', 1), ('X', 1)], 0, (5, 5)),
}

frontier = {}
heuristicCost = math.sqrt((graph[goalState].heuristic[0] - graph[initialState].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] - graph[initialState].heuristic[1]) ** 2)
frontier[initialState] = (None, heuristicCost)
explored = {}

while len(frontier) != 0:
currentNode = findMin(frontier)
del frontier[currentNode]

if graph[currentNode].state == goalState:
return actionSequence(graph, initialState, goalState)

heuristicCost = math.sqrt((graph[goalState].heuristic[0] - graph[currentNode].heuristic[0]) ** 2 +


(graph[goalState].heuristic[1] - graph[currentNode].heuristic[1]) ** 2)
currentCost = graph[currentNode].totalCost
explored[currentNode] = (graph[currentNode].parent, heuristicCost + currentCost)

for child, cost in graph[currentNode].actions:


currentCost = cost + graph[currentNode].totalCost
heuristicCost = math.sqrt((graph[goalState].heuristic[0] - graph[child].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] - graph[child].heuristic[1]) ** 2)
if child in explored:
if graph[child].parent == currentNode or child == initialState or \
explored[child][1] <= currentCost + heuristicCost:
continue

if child not in frontier:


graph[child].parent = currentNode
graph[child].totalCost = currentCost
frontier[child] = (graph[child].parent, currentCost + heuristicCost)
else:
if frontier[child][1] < currentCost + heuristicCost:
graph[child].parent = frontier[child][0]
graph[child].totalCost = frontier[child][1] - heuristicCost
else:
frontier[child] = (currentNode, currentCost + heuristicCost)
graph[child].parent = frontier[child][0]
graph[child].totalCost = currentCost

solution = Astar()
print(solution)

Graded# 01:
 Using Euclidean Distance as Heuristic Function:
import math

class Node:
def __init__(self, state, parent, actions, totalCost, heuristic):
self.state = state
self.parent = parent
self.actions = actions
self.totalCost = totalCost
self.heuristic = heuristic

def findMin(frontier):
minV = math.inf
node = None
for key in frontier:
if minV > frontier[key][1]:
minV = frontier[key][1]
node = key
return node

def actionSequence(graph, initialState, goalState):


solution = [goalState]
currentParent = graph[goalState].parent
while currentParent is not None:
solution.append(currentParent)
currentParent = graph[currentParent].parent
solution.reverse()
return solution

def Astar():
initialState = '00'
goalState = '99'

graph = {
'00': Node('00', None, [('01', 1), ('10', 1)], 0, (0, 0)),
'10': Node('10', None, [('11', 1), ('20', 1), ('00', 1)], 0, (1, 0)),
'20': Node('20', None, [('21', 1), ('10', 1), ('30', 1)], 0, (2, 0)),
'30': Node('30', None, [('20', 1), ('40', 1)], 0, (3, 0)),
'40': Node('40', None, [('30', 1), ('50', 1)], 0, (4, 0)),
'50': Node('50', None, [('40', 1)], 0, (5, 0)),
'01': Node('01', None, [('00', 1), ('02', 1), ('11', 1)], 0, (0, 1)),
'11': Node('11', None, [('01', 1), ('21', 1), ('10', 1)], 0, (1, 1)),
'21': Node('21', None, [('11', 1), ('22', 1), ('20', 1)], 0, (2, 1)),
'61': Node('61', None, [('62', 1)], 0, (6, 1)),
'81': Node('81', None, [('82', 1), ('91', 1), ('80', 1)], 0, (8, 1)),
'91': Node('91', None, [('81', 1)], 0, (9, 1)),
'02': Node('02', None, [('03', 1), ('01', 1)], 0, (0, 2)),
'22': Node('22', None, [('21', 1), ('32', 1)], 0, (2, 2)),
'32': Node('32', None, [('22', 1), ('33', 1)],0, (3, 2)),
'52': Node('52', None, [('53', 1), ('62', 1)], 0, (5, 2)),
'62': Node('62', None, [('52', 1), ('61', 1)], 0, (6, 2)),
'82': Node('82', None, [('81', 1)], 0, (8, 2)),
'03': Node('03', None, [('02', 1), ('13', 1)], 0, (0, 3)),
'13': Node('13', None, [('03', 1), ('14', 1)], 0, (1, 3)),
'33': Node('33', None, [('32', 1),('43', 1)], 0, (3, 3)),
'43': Node('43', None, [('44', 1),('53', 1),('33', 1)], 0, (4, 3)),
'53': Node('53', None, [('52', 1), ('43', 1)], 0, (5, 3)),
'14': Node('14', None, [('13', 1), ('15', 1),('24', 1)], 0, (1, 4)),
'24': Node('24', None, [('14', 1),('25', 1)], 0, (2, 4)),
'44': Node('44', None, [('43', 1), ('45', 1)], 0, (4, 4)),
'74': Node('74', None, [('75', 1), ('84', 1)], 0, (7, 4)),
'84': Node('84', None, [('74', 1), ('85', 1)], 0, (8, 4)),
'05': Node('05', None, [('06', 1), ('15', 1)], 0, (0, 5)),
'15': Node('15', None, [('05', 1), ('14', 1),('25', 1)], 0, (1, 5)),
'25': Node('25', None, [('35', 1),('24', 1)], 0, (2, 5)),
'35': Node('35', None, [('25', 1), ('36', 1), ('45', 1)], 0, (3, 5)),
'45': Node('45', None, [('35', 1), ('44', 1), ('46', 1)], 0, (4, 5)),
'75': Node('75', None, [('74', 1), ('76', 1),('85', 1)], 0, (7, 5)),
'85': Node('85', None, [('84', 1), ('75', 1),('86', 1),('95', 1)], 0, (8, 5)),
'95': Node('95', None, [('96', 1),('85', 1)], 0, (9, 5)),
'06': Node('06', None, [('05', 1), ('07', 1)], 0, (0, 6)),
'36': Node('36', None, [('37', 1), ('46', 1),('35', 1)], 0, (3, 6)),
'46': Node('46', None, [('45', 1), ('36', 1),('47', 1)], 0, (4, 6)),
'66': Node('66', None, [('67', 1), ('76', 1)], 0, (6, 6)),
'76': Node('76', None, [('75', 1), ('77', 1),('66', 1),('86', 1)], 0, (7, 6)),
'86': Node('86', None, [('87', 1), ('76', 1),('85', 1),('96', 1)], 0, (8, 6)),
'96': Node('96', None, [('95', 1), ('97', 1),('86', 1)], 0, (9, 6)),
'07': Node('07', None, [('06', 1), ('08', 1)], 0, (0, 7)),
'37': Node('37', None, [('36', 1), ('47', 1)], 0, (3, 7)),
'47': Node('47', None, [('37', 1), ('46', 1),('57', 1)], 0, (4, 7)),
'57': Node('57', None, [('47', 1), ('67', 1)], 0, (5, 7)),
'67': Node('67', None, [('66', 1), ('57', 1),('77', 1),('68', 1)], 0, (6, 7)),
'77': Node('77', None, [('78', 1), ('76', 1),('67', 1),('87', 1)], 0, (7, 7)),
'87': Node('87', None, [('86', 1), ('77', 1),('88', 1),('97', 1)], 0, (8, 7)),
'97': Node('97', None, [('96', 1), ('87', 1)], 0, (9, 7)),
'08': Node('08', None, [('07', 1), ('09', 1),('18', 1)], 0, (0, 8)),
'18': Node('18', None, [('08', 1), ('19', 1),('28', 1)], 0, (1, 8)),
'28': Node('28', None, [('18', 1)], 0, (2, 8)),
'48': Node('48', None, [('47', 1), ('49', 1)], 0, (4, 8)),
'68': Node('68', None, [('67', 1), ('69', 1),('78', 1)], 0, (6, 8)),
'78': Node('78', None, [('77', 1), ('79', 1),('68', 1),('88', 1)], 0, (7, 8)),
'88': Node('88', None, [('87', 1), ('78', 1),('89', 1)], 0, (8, 8)),
'09': Node('09', None, [('08', 1), ('19', 1)], 0, (0, 9)),
'19': Node('19', None, [('09', 1), ('18', 1)], 0, (1, 9)),
'49': Node('49', None, [('48', 1)], 0, (4, 9)),
'69': Node('69', None, [('79', 1), ('68', 1)], 0, (6, 9)),
'79': Node('79', None, [('89', 1), ('69', 1),('78', 1)], 0, (7, 9)),
'89': Node('89', None, [('79', 1), ('88', 1),('99',1)], 0, (8, 9)),
'99': Node('99', None, [('89', 1)], 0, (9, 9))
}

frontier = {}
heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[initialState].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] -
graph[initialState].heuristic[1]) ** 2)

frontier[initialState] = (None, heuristicCost)


explored = {}

while len(frontier) != 0:
currentNode = findMin(frontier)
del frontier[currentNode]

if graph[currentNode].state == goalState:
return actionSequence(graph, initialState, goalState)

heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[currentNode].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] -
graph[currentNode].heuristic[1]) ** 2)
currentCost = graph[currentNode].totalCost
explored[currentNode] = (graph[currentNode].parent, heuristicCost +
currentCost)

for child, cost in graph[currentNode].actions:


currentCost = cost + graph[currentNode].totalCost
heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[child].heuristic[0]) ** 2 + (graph[goalState].heuristic[1] -
graph[child].heuristic[1]) ** 2)
if child in explored:
if graph[child].parent == currentNode or child == initialState or \
explored[child][1] <= currentCost + heuristicCost:
continue

if child not in frontier:


graph[child].parent = currentNode
graph[child].totalCost = currentCost
frontier[child] = (graph[child].parent, currentCost + heuristicCost)
else:
if frontier[child][1] < currentCost + heuristicCost:
graph[child].parent = frontier[child][0]
graph[child].totalCost = frontier[child][1] - heuristicCost
else:
frontier[child] = (currentNode, currentCost + heuristicCost)
graph[child].parent = frontier[child][0]
graph[child].totalCost = currentCost

solution = Astar()
print(solution)

 Using Diagonal Distance as Heuristic Function:

import math

class Node:
def __init__(self, state, parent, actions, totalCost, heuristic):
self.state = state
self.parent = parent
self.actions = actions
self.totalCost = totalCost
self.heuristic = heuristic

def findMin(frontier):
minV = math.inf
node = None
for key in frontier:
if minV > frontier[key][1]:
minV = frontier[key][1]
node = key
return node

def actionSequence(graph, initialState, goalState):


solution = [goalState]
currentParent = graph[goalState].parent
while currentParent is not None:
solution.append(currentParent)
currentParent = graph[currentParent].parent
solution.reverse()
return solution
def Astar():
initialState = '00'
goalState = '99'

graph = {
'00': Node('00', None, [('01', 1), ('10', 1)], 0, (0, 0)),
'10': Node('10', None, [('11', 1), ('20', 1), ('00', 1)], 0, (1, 0)),
'20': Node('20', None, [('21', 1), ('10', 1), ('30', 1)], 0, (2, 0)),
'30': Node('30', None, [('20', 1), ('40', 1)], 0, (3, 0)),
'40': Node('40', None, [('30', 1), ('50', 1)], 0, (4, 0)),
'50': Node('50', None, [('40', 1)], 0, (5, 0)),
'01': Node('01', None, [('00', 1), ('02', 1), ('11', 1)], 0, (0, 1)),
'11': Node('11', None, [('01', 1), ('21', 1), ('10', 1)], 0, (1, 1)),
'21': Node('21', None, [('11', 1), ('22', 1), ('20', 1)], 0, (2, 1)),
'61': Node('61', None, [('62', 1)], 0, (6, 1)),
'81': Node('81', None, [('82', 1), ('91', 1), ('80', 1)], 0, (8, 1)),
'91': Node('91', None, [('81', 1)], 0, (9, 1)),
'02': Node('02', None, [('03', 1), ('01', 1)], 0, (0, 2)),
'22': Node('22', None, [('21', 1), ('32', 1)], 0, (2, 2)),
'32': Node('32', None, [('22', 1), ('33', 1)],0, (3, 2)),
'52': Node('52', None, [('53', 1), ('62', 1)], 0, (5, 2)),
'62': Node('62', None, [('52', 1), ('61', 1)], 0, (6, 2)),
'82': Node('82', None, [('81', 1)], 0, (8, 2)),
'03': Node('03', None, [('02', 1), ('13', 1)], 0, (0, 3)),
'13': Node('13', None, [('03', 1), ('14', 1)], 0, (1, 3)),
'33': Node('33', None, [('32', 1),('43', 1)], 0, (3, 3)),
'43': Node('43', None, [('44', 1),('53', 1),('33', 1)], 0, (4, 3)),
'53': Node('53', None, [('52', 1), ('43', 1)], 0, (5, 3)),
'14': Node('14', None, [('13', 1), ('15', 1),('24', 1)], 0, (1, 4)),
'24': Node('24', None, [('14', 1),('25', 1)], 0, (2, 4)),
'44': Node('44', None, [('43', 1), ('45', 1)], 0, (4, 4)),
'74': Node('74', None, [('75', 1), ('84', 1)], 0, (7, 4)),
'84': Node('84', None, [('74', 1), ('85', 1)], 0, (8, 4)),
'05': Node('05', None, [('06', 1), ('15', 1)], 0, (0, 5)),
'15': Node('15', None, [('05', 1), ('14', 1),('25', 1)], 0, (1, 5)),
'25': Node('25', None, [('35', 1),('24', 1)], 0, (2, 5)),
'35': Node('35', None, [('25', 1), ('36', 1), ('45', 1)], 0, (3, 5)),
'45': Node('45', None, [('35', 1), ('44', 1), ('46', 1)], 0, (4, 5)),
'75': Node('75', None, [('74', 1), ('76', 1),('85', 1)], 0, (7, 5)),
'85': Node('85', None, [('84', 1), ('75', 1),('86', 1),('95', 1)], 0, (8, 5)),
'95': Node('95', None, [('96', 1),('85', 1)], 0, (9, 5)),
'06': Node('06', None, [('05', 1), ('07', 1)], 0, (0, 6)),
'36': Node('36', None, [('37', 1), ('46', 1),('35', 1)], 0, (3, 6)),
'46': Node('46', None, [('45', 1), ('36', 1),('47', 1)], 0, (4, 6)),
'66': Node('66', None, [('67', 1), ('76', 1)], 0, (6, 6)),
'76': Node('76', None, [('75', 1), ('77', 1),('66', 1),('86', 1)], 0, (7, 6)),
'86': Node('86', None, [('87', 1), ('76', 1),('85', 1),('96', 1)], 0, (8, 6)),
'96': Node('96', None, [('95', 1), ('97', 1),('86', 1)], 0, (9, 6)),
'07': Node('07', None, [('06', 1), ('08', 1)], 0, (0, 7)),
'37': Node('37', None, [('36', 1), ('47', 1)], 0, (3, 7)),
'47': Node('47', None, [('37', 1), ('46', 1),('57', 1)], 0, (4, 7)),
'57': Node('57', None, [('47', 1), ('67', 1)], 0, (5, 7)),
'67': Node('67', None, [('66', 1), ('57', 1),('77', 1),('68', 1)], 0, (6, 7)),
'77': Node('77', None, [('78', 1), ('76', 1),('67', 1),('87', 1)], 0, (7, 7)),
'87': Node('87', None, [('86', 1), ('77', 1),('88', 1),('97', 1)], 0, (8, 7)),
'97': Node('97', None, [('96', 1), ('87', 1)], 0, (9, 7)),
'08': Node('08', None, [('07', 1), ('09', 1),('18', 1)], 0, (0, 8)),
'18': Node('18', None, [('08', 1), ('19', 1),('28', 1)], 0, (1, 8)),
'28': Node('28', None, [('18', 1)], 0, (2, 8)),
'48': Node('48', None, [('47', 1), ('49', 1)], 0, (4, 8)),
'68': Node('68', None, [('67', 1), ('69', 1),('78', 1)], 0, (6, 8)),
'78': Node('78', None, [('77', 1), ('79', 1),('68', 1),('88', 1)], 0, (7, 8)),
'88': Node('88', None, [('87', 1), ('78', 1),('89', 1)], 0, (8, 8)),
'09': Node('09', None, [('08', 1), ('19', 1)], 0, (0, 9)),
'19': Node('19', None, [('09', 1), ('18', 1)], 0, (1, 9)),
'49': Node('49', None, [('48', 1)], 0, (4, 9)),
'69': Node('69', None, [('79', 1), ('68', 1)], 0, (6, 9)),
'79': Node('79', None, [('89', 1), ('69', 1),('78', 1)], 0, (7, 9)),
'89': Node('89', None, [('79', 1), ('88', 1),('99',1)], 0, (8, 9)),
'99': Node('99', None, [('89', 1)], 0, (9, 9))
}

frontier = {}
# diagonal distance heuristics
dx = abs(graph[goalState].heuristic[0] - graph[initialState].heuristic[0] ** 2)
dy = abs((graph[goalState].heuristic[1] - graph[initialState].heuristic[1]) ** 2)
D = 1

if (dx < dy):


min = dx
elif (dx > dy):
min = dy

heuristicCost = D * (dx + dy) + (math.sqrt(2) - 2 * D) * min

frontier[initialState] = (None, heuristicCost)


explored = {}

while len(frontier) != 0:
currentNode = findMin(frontier)
del frontier[currentNode]

if graph[currentNode].state == goalState:
return actionSequence(graph, initialState, goalState)

heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[currentNode].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] - graph[currentNode].heuristic[1]) ** 2)
currentCost = graph[currentNode].totalCost
explored[currentNode] = (graph[currentNode].parent, heuristicCost + currentCost)

for child, cost in graph[currentNode].actions:


currentCost = cost + graph[currentNode].totalCost
heuristicCost = math.sqrt((graph[goalState].heuristic[0] - graph[child].heuristic[0])
** 2 + (graph[goalState].heuristic[1] - graph[child].heuristic[1]) ** 2)
if child in explored:
if graph[child].parent == currentNode or child == initialState or \
explored[child][1] <= currentCost + heuristicCost:
continue

if child not in frontier:


graph[child].parent = currentNode
graph[child].totalCost = currentCost
frontier[child] = (graph[child].parent, currentCost + heuristicCost)
else:
if frontier[child][1] < currentCost + heuristicCost:
graph[child].parent = frontier[child][0]
graph[child].totalCost = frontier[child][1] - heuristicCost
else:
frontier[child] = (currentNode, currentCost + heuristicCost)
graph[child].parent = frontier[child][0]
graph[child].totalCost = currentCost

solution = Astar()
print(solution)

 Using Manhattan Distance as Heuristic Function:


import math
class Node:
def __init__(self, state, parent, actions, totalCost, heuristic):
self.state = state
self.parent = parent
self.actions = actions
self.totalCost = totalCost
self.heuristic = heuristic

def findMin(frontier):
minV = math.inf
node = None
for key in frontier:
if minV > frontier[key][1]:
minV = frontier[key][1]
node = key
return node

def actionSequence(graph, initialState, goalState):


solution = [goalState]
currentParent = graph[goalState].parent
while currentParent is not None:
solution.append(currentParent)
currentParent = graph[currentParent].parent
solution.reverse()
return solution

def Astar():
initialState = '00'
goalState = '99'

graph = {
'00': Node('00', None, [('01', 1), ('10', 1)], 0, (0, 0)),
'10': Node('10', None, [('11', 1), ('20', 1), ('00', 1)], 0, (1, 0)),
'20': Node('20', None, [('21', 1), ('10', 1), ('30', 1)], 0, (2, 0)),
'30': Node('30', None, [('20', 1), ('40', 1)], 0, (3, 0)),
'40': Node('40', None, [('30', 1), ('50', 1)], 0, (4, 0)),
'50': Node('50', None, [('40', 1)], 0, (5, 0)),
'01': Node('01', None, [('00', 1), ('02', 1), ('11', 1)], 0, (0, 1)),
'11': Node('11', None, [('01', 1), ('21', 1), ('10', 1)], 0, (1, 1)),
'21': Node('21', None, [('11', 1), ('22', 1), ('20', 1)], 0, (2, 1)),
'61': Node('61', None, [('62', 1)], 0, (6, 1)),
'81': Node('81', None, [('82', 1), ('91', 1), ('80', 1)], 0, (8, 1)),
'91': Node('91', None, [('81', 1)], 0, (9, 1)),
'02': Node('02', None, [('03', 1), ('01', 1)], 0, (0, 2)),
'22': Node('22', None, [('21', 1), ('32', 1)], 0, (2, 2)),
'32': Node('32', None, [('22', 1), ('33', 1)],0, (3, 2)),
'52': Node('52', None, [('53', 1), ('62', 1)], 0, (5, 2)),
'62': Node('62', None, [('52', 1), ('61', 1)], 0, (6, 2)),
'82': Node('82', None, [('81', 1)], 0, (8, 2)),
'03': Node('03', None, [('02', 1), ('13', 1)], 0, (0, 3)),
'13': Node('13', None, [('03', 1), ('14', 1)], 0, (1, 3)),
'33': Node('33', None, [('32', 1),('43', 1)], 0, (3, 3)),
'43': Node('43', None, [('44', 1),('53', 1),('33', 1)], 0, (4, 3)),
'53': Node('53', None, [('52', 1), ('43', 1)], 0, (5, 3)),
'14': Node('14', None, [('13', 1), ('15', 1),('24', 1)], 0, (1, 4)),
'24': Node('24', None, [('14', 1),('25', 1)], 0, (2, 4)),
'44': Node('44', None, [('43', 1), ('45', 1)], 0, (4, 4)),
'74': Node('74', None, [('75', 1), ('84', 1)], 0, (7, 4)),
'84': Node('84', None, [('74', 1), ('85', 1)], 0, (8, 4)),
'05': Node('05', None, [('06', 1), ('15', 1)], 0, (0, 5)),
'15': Node('15', None, [('05', 1), ('14', 1),('25', 1)], 0, (1, 5)),
'25': Node('25', None, [('35', 1),('24', 1)], 0, (2, 5)),
'35': Node('35', None, [('25', 1), ('36', 1), ('45', 1)], 0, (3, 5)),
'45': Node('45', None, [('35', 1), ('44', 1), ('46', 1)], 0, (4, 5)),
'75': Node('75', None, [('74', 1), ('76', 1),('85', 1)], 0, (7, 5)),
'85': Node('85', None, [('84', 1), ('75', 1),('86', 1),('95', 1)], 0, (8, 5)),
'95': Node('95', None, [('96', 1),('85', 1)], 0, (9, 5)),
'06': Node('06', None, [('05', 1), ('07', 1)], 0, (0, 6)),
'36': Node('36', None, [('37', 1), ('46', 1),('35', 1)], 0, (3, 6)),
'46': Node('46', None, [('45', 1), ('36', 1),('47', 1)], 0, (4, 6)),
'66': Node('66', None, [('67', 1), ('76', 1)], 0, (6, 6)),
'76': Node('76', None, [('75', 1), ('77', 1),('66', 1),('86', 1)], 0, (7, 6)),
'86': Node('86', None, [('87', 1), ('76', 1),('85', 1),('96', 1)], 0, (8, 6)),
'96': Node('96', None, [('95', 1), ('97', 1),('86', 1)], 0, (9, 6)),
'07': Node('07', None, [('06', 1), ('08', 1)], 0, (0, 7)),
'37': Node('37', None, [('36', 1), ('47', 1)], 0, (3, 7)),
'47': Node('47', None, [('37', 1), ('46', 1),('57', 1)], 0, (4, 7)),
'57': Node('57', None, [('47', 1), ('67', 1)], 0, (5, 7)),
'67': Node('67', None, [('66', 1), ('57', 1),('77', 1),('68', 1)], 0, (6, 7)),
'77': Node('77', None, [('78', 1), ('76', 1),('67', 1),('87', 1)], 0, (7, 7)),
'87': Node('87', None, [('86', 1), ('77', 1),('88', 1),('97', 1)], 0, (8, 7)),
'97': Node('97', None, [('96', 1), ('87', 1)], 0, (9, 7)),
'08': Node('08', None, [('07', 1), ('09', 1),('18', 1)], 0, (0, 8)),
'18': Node('18', None, [('08', 1), ('19', 1),('28', 1)], 0, (1, 8)),
'28': Node('28', None, [('18', 1)], 0, (2, 8)),
'48': Node('48', None, [('47', 1), ('49', 1)], 0, (4, 8)),
'68': Node('68', None, [('67', 1), ('69', 1),('78', 1)], 0, (6, 8)),
'78': Node('78', None, [('77', 1), ('79', 1),('68', 1),('88', 1)], 0, (7, 8)),
'88': Node('88', None, [('87', 1), ('78', 1),('89', 1)], 0, (8, 8)),
'09': Node('09', None, [('08', 1), ('19', 1)], 0, (0, 9)),
'19': Node('19', None, [('09', 1), ('18', 1)], 0, (1, 9)),
'49': Node('49', None, [('48', 1)], 0, (4, 9)),
'69': Node('69', None, [('79', 1), ('68', 1)], 0, (6, 9)),
'79': Node('79', None, [('89', 1), ('69', 1),('78', 1)], 0, (7, 9)),
'89': Node('89', None, [('79', 1), ('88', 1),('99',1)], 0, (8, 9)),
'99': Node('99', None, [('89', 1)], 0, (9, 9))
}

frontier = {}

# Manhattan distance
dx = abs(graph[goalState].heuristic[0] - graph[initialState].heuristic[0] )
dy = abs((graph[goalState].heuristic[1] - graph[initialState].heuristic[1]))

heuristicCost = dx + dy

frontier[initialState] = (None, heuristicCost)


explored = {}

while len(frontier) != 0:
currentNode = findMin(frontier)
del frontier[currentNode]

if graph[currentNode].state == goalState:
return actionSequence(graph, initialState, goalState)

heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[currentNode].heuristic[0]) ** 2 +
(graph[goalState].heuristic[1] -
graph[currentNode].heuristic[1]) ** 2)
currentCost = graph[currentNode].totalCost
explored[currentNode] = (graph[currentNode].parent, heuristicCost +
currentCost)

for child, cost in graph[currentNode].actions:


currentCost = cost + graph[currentNode].totalCost
heuristicCost = math.sqrt((graph[goalState].heuristic[0] -
graph[child].heuristic[0]) ** 2 + (graph[goalState].heuristic[1] -
graph[child].heuristic[1]) ** 2)
if child in explored:
if graph[child].parent == currentNode or child == initialState or \
explored[child][1] <= currentCost + heuristicCost:
continue
if child not in frontier:
graph[child].parent = currentNode
graph[child].totalCost = currentCost
frontier[child] = (graph[child].parent, currentCost + heuristicCost)
else:
if frontier[child][1] < currentCost + heuristicCost:
graph[child].parent = frontier[child][0]
graph[child].totalCost = frontier[child][1] - heuristicCost
else:
frontier[child] = (currentNode, currentCost + heuristicCost)
graph[child].parent = frontier[child][0]
graph[child].totalCost = currentCost

solution = Astar()
print(solution)

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