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  1. [the asterisks represent arrow heads.]
  2. [distances are in mils (thousandths of an inch).]
  3.  
  4.  
  5.     Figure 4a.
  6.  
  7. +---+---+---+---+---+---+---+    Closed    Open
  8. |   |   |   |   |   |   |   |    ------    ----
  9. |   |   |   |   |   |   |   |    r3c3=S    r4c4 (188), r3c4 (199), r4c3 (199),
  10. |   |   |   |   |   |   |   |        r3c2 (286), r2c3 (286), r4c2 (287),
  11. +---+---+---+---+---+---+---+        r2c4 (287), r2c2 (357)
  12. |   |   |   |   |   |   |   |
  13. |   |   |   |   |   | T |   |
  14. |   |   |   |   |   |   |   |
  15. +---+---+---+---+---+---+---+
  16. |   |   |   |   |   |   |   |
  17. |   |   |   |   |   |   |   |
  18. |   |   |   |   |   |   |   |
  19. +---+---+---+---+---+---+---+
  20. |   |\  | | |  /|   |   |   |
  21. |   | \ | | | / |   |   |   |
  22. |   |  *| v |*  |   |   |   |
  23. +---+---+---+---+---+---+---+
  24. |   |   |   |   |   |   |   |
  25. |   |-->| S |<--|   |   |   |
  26. |   |   |   |   |   |   |   |
  27. +---+---+---+---+---+---+---+
  28. |   |  *| ^ |*  |   |   |   |
  29. |   | / | | | \ |   |   |   |
  30. |   |/  | | |  \|   |   |   |
  31. +---+---+---+---+---+---+---+
  32. |   |   |   |   |   |   |   |
  33. |   |   |   |   |   |   |   |
  34. |   |   |   |   |   |   |   |
  35. +---+---+---+---+---+---+---+
  36.  
  37.  
  38.     Figure 4b.
  39.  
  40. +---+---+---+---+---+---+---+    Closed    Open
  41. |   |   |   |   |   |   |   |    ------    ----
  42. |   |   |   |   |   |   |   |    r3c3=S,    r5c5 (188), r3c4 (199), r4c3 (199),
  43. |   |   |   |   |   |   |   |    r4c4    r4c5 (200), r5c4 (200), r5c3 (286),
  44. +---+---+---+---+---+---+---+        r3c5 (286), r3c2 (286), r2c3 (286),
  45. |   |   |   |   |   |   |   |        r4c2 (287), r2c4 (287), r2c2 (357)
  46. |   |   |   |   |   | T |   |
  47. |   |   |   |   |   |   |   |
  48. +---+---+---+---+---+---+---+
  49. |   |   |\  | | |  /|   |   |
  50. |   |   | \ | | | / |   |   |
  51. |   |   |  *| v |*  |   |   |
  52. +---+---+---+---+---+---+---+
  53. |   |\  | | |  /|   |   |   |
  54. |   | \ | | | / |<--|   |   |
  55. |   |  *| v |*  |   |   |   |
  56. +---+---+---+---+---+---+---+
  57. |   |   |   |   |*  |   |   |
  58. |   |-->| S |<--| \ |   |   |
  59. |   |   |   |   |  \|   |   |
  60. +---+---+---+---+---+---+---+
  61. |   |  *| ^ |*  |   |   |   |
  62. |   | / | | | \ |   |   |   |
  63. |   |/  | | |  \|   |   |   |
  64. +---+---+---+---+---+---+---+
  65. |   |   |   |   |   |   |   |
  66. |   |   |   |   |   |   |   |
  67. |   |   |   |   |   |   |   |
  68. +---+---+---+---+---+---+---+
  69.  
  70.  
  71.     Figure 4c.
  72.  
  73. +---+---+---+---+---+---+---+    Closed    Open
  74. |   |   |   |   |   |   |   |    ------    ----
  75. |   |   |   |   |   |   |   |    r3c3=S,    r6c6=T (188), r3c4 (199), r4c3 (199),
  76. |   |   |   |   |   |   |   |    r4c4,    r4c5 (200), r5c4 (200), r5c6 (201),
  77. +---+---+---+---+---+---+---+    r5c5    r6c5 (201), r5c3 (286), r3c5 (286),
  78. |   |   |   |\  | | |  /|   |        r3c2 (286), r2c3 (286), r6c4 (287),
  79. |   |   |   | \ | | | T |   |        r4c6 (287), r4c2 (287), r2c4 (287),
  80. |   |   |   |  *| v |*  |   |        r2c2 (357)
  81. +---+---+---+---+---+---+---+
  82. |   |   |\  | | |  /|   |   |
  83. |   |   | \ | | | / |<--|   |
  84. |   |   |  *| v |*  |   |   |
  85. +---+---+---+---+---+---+---+
  86. |   |\  | | |  /|   |*  |   |
  87. |   | \ | | | / |<--| \ |   |
  88. |   |  *| v |*  |   |  \|   |
  89. +---+---+---+---+---+---+---+
  90. |   |   |   |   |*  |   |   |
  91. |   |-->| S |<--| \ |   |   |
  92. |   |   |   |   |  \|   |   |
  93. +---+---+---+---+---+---+---+
  94. |   |  *| ^ |*  |   |   |   |
  95. |   | / | | | \ |   |   |   |
  96. |   |/  | | |  \|   |   |   |
  97. +---+---+---+---+---+---+---+
  98. |   |   |   |   |   |   |   |
  99. |   |   |   |   |   |   |   |
  100. |   |   |   |   |   |   |   |
  101. +---+---+---+---+---+---+---+
  102.  
  103.  
  104. Figure 4. The A* search algorithm moves more
  105. directly from the source toward the target.
  106.