$1.(2-$pt$)$ The picture in Figure $1($which should be familiar from Project $5)$ is a plan of an area that you have to program a robot to navigate in$.$ At different times, the robot will have to move from its starting location $($where the robot is on the map$)$ to $(7,1),(7,7),(5,1)$ and $(7,6)$ Draw the following maps of the space, all of which should allow the robot to plan how to navigate to any of these goal locations: $($a$)$ A topological map. $($b$)$ An occupancy grid map.

$2.(1-$pt$)$ Show how the robot would use a search algorithm along with the topological map you drew for $1($a$)$ to find the best path from its starting point to $(7,7).($You can use any of search algorithms that were covered in the notes, but please show the traversal of nodes that reaches the goal node of $(7,7)).$

$3.(1-$pt$)$ Use the wavefront planning procedure on the occupancy grid you drew for $1($b$)$ to find a path for the robot to move from its starting point to $(7,7).$

Please help me draw the topological map and occupancy grid map and solve the other problems.