 Solution

Breadth-first tree search is complete and optimal for minimizing rounds. If a successful escape has finite length $d$, there are only finitely many nodes at depths below $d$, since the branching factor is at most five. Breadth-first tree search therefore reaches a shallowest successful node after finite work, even if other branches continue forever.

It is an optimal search algorithm because every search transition model step costs one round, so minimum depth is exactly the desired minimum number of rounds. The goal test must be applied to the surviving complete-round successor. Here a complete search algorithm guarantees finding an escape when one exists; it need not terminate on every unsolvable instance.