Problem 3 (Path Planning): Use the Wavefront algorithm to update the map and use the updated map to find a path leading the robot to go from its initial position to the goal position. . R denotes the robot's initial position 1 denotes an inaccessible cell (for example, occupied by objects) 2 denotes the goal position (i.e., destination) Empty cells denote free space, whose values (the Os) are not specifically written Use four-neighborhood when propagating through the map Use four-neighborhood when finding a path Highlight the path found