CISC 3415 HW Assignment - 5 (4pts) 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). 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). C C Figure 1: The map. CISC 3415 HW Assignment - 5 (4pts) 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). 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). C C Figure 1: The map