How many belief states exist for this problem? Give one example of a belief state. b$)$ Draw two levels of the Belief Space Tree starting from our initial lack of knowledge about nAImo$$s location, with the searcher beginning at location H$.$ Use the simplified notation $$Ocean$-$H$$ means any state except H$.$ c$)$ Does a conformant plan exist that allows nAImo to be found with certainty, with the searcher starting at A$?$ If so$,$ state the searcher$$s path and explain briefly why this is certain to succeed. If not, describe in a several sentences why no conformant plan can exist. d$)$ Repeat the same exercise $($from part c$)$ in the modified ocean with a maze wall removed between H and Y$.$