Question: in this cases its not considerate the obstacles? because if is true, the can pass from d 2 to d 3 and d 4 ,

in this cases its not considerate the obstacles? because if is true, the can pass from d

2

to d

3

and d

4,

and the result provided is d

2,

c

2,

b

2,

a

2,

a

1,

d

1 (

this is not CLOSE!

),

and d

4

in this cases its not considerate the obstacles? because if is

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