Please just complete question 4 in Java

Please just complete question 4 in Java

Consider the route finding problem between 2 points in a plane that has convex polygons as obstacles (see figure 1). Find the shortest path. This is an idealistic navigation problem for a robot (e.g navigating through a museum). [16 points in total] 1. Suppose the state space consists of all positions (r,y) on the plane. How many states are there? How many paths are there to the goal? points 2. Explain briefly why the shortest path from one polygon vertex to any other in the scene must consist of straight-line segments joining some of the vertices of the polygons. Define a good state space now. How large is this state space? 2points 3. Define the necessary functions to implement the search problem, including a successor function that takes a vertex as input and returns the set of vertices that can be reached in a straight line from the given vertex. (Also think about the neighbors on the same polygon.) Use the straight-line distance for the heuristic function Figure 1: A scene with random polygonal obstacles. S and G are the start and goal states. See page 114 textbook. points 4. Implement and apply one or more of the classical search algorithms that we have discussed in class to solve a range of problems in the domain, and comment on their performance. A* should be among them. Make sure that the implementation is independent of the specific domain. This means that the same algorithm should be able to solve other variants of the problem (e.g. the polygons in the plane are different)