A*
a_star([[Goal|Path]|_],Goal,FinalPath):-
reverse([Goal|Path], FinalPath).
a_star([Path|List],Goal,FinalPath) :-
extend(Path,NewPaths),
append(List,NewPaths,NewList),
sort(NewList,Goal,SortedList),
a_star(SortedList,Goal,FinalPath).
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