Derive the 3rd-order polynomial trajectories along the x and y directions for a planar holonomic mobile robot moving on the x-y plane and passing through two waypoints. This is case where there are three trajectory segments to solve for. (Since the robot is holonomic, its orientation is decoupled from its position and hence we can avoid specifying a trajectory for its heading angle in this exercise.) The robot starts at rest at (0,0), needs to end at rest at (1,0), and must pass through waypoints (0,1) and (1,1) without stopping at either one of them (all in [m]). The total trajectory time should be 6 sec; consider here each segment lasts for 2 sec. (50 pts)