def get_successors(self, parent: Node) -> list[Node]:
        successors = []
        for action in delta:
            pos_x = parent.pos_x + action[1]
            pos_y = parent.pos_y + action[0]
            if not (0 <= pos_x <= len(grid[0]) - 1 and 0 <= pos_y <= len(grid) - 1):
                continue

            if grid[pos_y][pos_x] != 0:
                continue

            successors.append(
                Node(
                    pos_x,
                    pos_y,
                    self.target.pos_y,
                    self.target.pos_x,
                    parent.g_cost + 1,
                    parent,
                )
            )
        return successors