E1.1 a 4: On the right-turning Bug O algorithm (25 points). (i) (10 points) For the following loose pseudo-code implementation of a right-turning Bug 0 algorithm, draw a flowchart (as discussed in Section 1.3): 1: while not at goal location : 2: move towards goal 3: if hit an obstacle : while not able to move towards goal: 5: follow obstacle moving to the right until can head towards goal (ii) (5 points) Draw an environment for which the right-turning Bug 0 algorithm never reaches the goal location, even though a path from start to goal does exist. Include both start and goal locations along with arrows indicating the path of the robot. Label several notable points along the path with the letters (A,B,C,...). (iii) (5 points) Sketch a graph of the distance between the robot and the goal location along the path you drew for part (ii). Use the labels from part (ii) to clarify the distance to the goal at the several notable points along the path. (iv) (5 points) Draw an environment which contains a path from start to goal, but for which both the left and right turning Bug 0 algorithms fail to find it. Include two sketches, showing the path of the left-turning algorithm and the path of the right-turning algorithm