Construct $($draw$)$ a roadmap on the provided solution sheet using roadmap methods specified below the figures.

Voronoi Boustraphedon simplified Visibility Graph

$$ Explain the difference between Boustraphedon and Trapezoidal Decomposition. What is the advantage from using Boustraphedon algorithm and how does it relate to the strategy, which separation line to keep?

$$ Explain the difference to the generic Visibility Graph? What is the intuition behind the reduction of lines used in the simplified approach?

$$ Explain, what is a roadmap and how does it help to speed up path planning?