Figure $5$ shows a robot navigation field, where the red square $($d$2)$ is the robot, and green square $($d$4)$ is the goal. The shade squares $($such as b$2,$ c$2,$ etc.$)$ are obstacles. The robot is not allowed to move in diagonal line. Please use A$*$ search to find the path from d$2$ to d$4($Using Manhattan distance as the heuristic function$)$

$$ Report nodes in the fringe $($including their f$($N$)$ values$),$ in the orders they are included in the fringe. $($Using table format showing below. Please add rows if needed$)[0\mathrm{.}5]$

$$ Report the order of the nodes being expanded. $[0\mathrm{.}5]$

$$ Report the final path from d$2$ to d$4.[0\mathrm{.}25]$