Hello, please write with full explanation and working out because I will be using it for understanding and revision purposes. This regards Robotics in Computer Science. Thank you.

a) A mobile robot has two sonar sensors at its right side: the front one denoted as Front Side Sensor (FSS) and the back one denoted as Back Side Sensor (BSS). Also, it has three sonar sensors at its front, denoted as Left Front Sensor (LFS), Medium Front Sensor (MFS) and Right Front Sensor (RFS). One infrared goal seeking sensor is used to implement goal seeking of infra-red beacons. The robot has two independent motors for controlling its front wheels, one for controlling the steering and the other for controlling the speed. The robot is required to implement the right edge following behaviour while avoiding obstacles and reaching goals. You are required to design a hierarchical fuzzy logic controller to implement three behaviours: the right edge following, the goal seeking and the obstacle avoidance. (i) Draw a block diagram of this hierarchical controller and explain its overall operation. (ii) Describe the benefits of using hierarchical fuzzy coordination when compared to subsumption coordination