a) The following are the cost functions according to the map

f(n) = g(n) + h(n)

g(n)= Distance between each camp

h(n)= The straight line distance between any camp and Kappa Camp. These distances are given in the table below

QUESTION 2 Alpha Camp 45 136 Beta Camp Zeta Camp Epsilon Camp 257 154 391 Sigma Camp -503 410 380 209 Delta Camp 455 Lambda Camp 205 Omega Cam 250 Gamma Camp 54 325 lota Camp 400 304 Kappa: Camp CAMP hin) CAMP hin) Alpha Camp 875 Gamma Camp 368 Beta Camp 830 Sigma Camp 521 Zeta Camp 750 lota Camp 304 Delta Camp 573 Lambda Camp 325 Epsilon Camp 689 | Kappa Camp 0 Omega Camp 409 1) Based on the information, construct a tree from Alpha Camp to Kappa Camp using A. algorithm. In the search trec produced, show the cost function at each node and state the order in which the node were expanded ii) Based on your answer in (), state the shortest route and the total cost for the route (15 Marks)