@Override
	protected void addNewChildrenToOpen(SearchNode parent)
	{
		boolean[] percepts = board.getPercepts(parent.location.x, parent.location.y);
		int danger = 0;
		for(int i = 0; i < 2; i++)
			if(percepts[i])
				danger++;
		Point location = parent.getLocation();
		SearchNode node = createSearchNode(location.x, location.y - 1, parent);
		if(canAdd(node.toString()))
		{
			open.add(node);
		}
		addDanger(node, danger);
		
		node = createSearchNode(location.x + 1, location.y, parent);
		if(canAdd(node.toString()))
		{	
			open.add(node);
		}
		addDanger(node, danger);
		
		node = createSearchNode(location.x, location.y + 1, parent);
		if(canAdd(node.toString()))
		{
			open.add(node);
		}
		addDanger(node, danger);
		
		node = createSearchNode(location.x - 1, location.y, parent);
		if(canAdd(node.toString()))
		{
			open.add(node);
		}
		addDanger(node, danger);
	}