c) In path planning, one method to calculate or determine the possible pathways is by using the sensor-based technique. In this sensor-based technique, there are five components, namely i) destination, ii) Feedback Sensor measurement, iii) path planner, iv) motion controller, and v) motion. Illustrate the closedloop system diagram consisting of these five components to show their functions and relations in the closed-loop robot motion system using the sensor-based technique. (5 marks) d) Figure 1 shows the visual approach in environment recognition for robot path and motion planning. The system uses a camera as the sensor to locate the position of the mobile robot in its environment. Please explain the procedures and processes on how the mobile robot can move from its start point towards the goal through autonomous control. Use all the components in the figure to explain your answer. (7 marks)