The objective is to find the optimal path from Ha to M. Do the following i. Solve it using ucS. Find path cost. ii. Find Optimal path using A" algorithm. The heuristic function h() of each city is given below. City Straight Line Distance to M: M H 720 750 740 K R Sc 680 Be 590 L 410 Dr 400 Ha 610 Br 720 Du 540 Bo 480 St 180 F 380 Q1. Given below map. K 85 110 90 LH Sc 155 120 200 CHa Be 320 365 185 Dl 240 140 410 Dr Bp180 /F 410 200 435 St 210 M