Problem 1: Consider the following 2D robot motion planning problem, which shows the start location and goal location of a robot, and a set of obstacles in Configuration Space (C-Space). Recall that the C-Space transform shrinks the robot to a single point with no size, and expands the obstacles to account for the dimensions of the robot. Note that the boundary are four walls of a room, and are thus obstacles as well. a. Draw the Visibility Graph on the C-Space below. b. Highlight in some way the path that would be taken if we used an optimal search algorithm (such as A* with an admissible heuristic) on this Visibility Graph. c. Is that path the optimal solution to this robot motion planning problem? (Yes or No) Start Goal