Problem 4 (Path Planning): Suppose the Wavefront algorithm provides the following grid map, where: 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 eight-neighborhood when propagating through the map Use eight-neighborhood when finding a path Highlight the path found. At the very first step starting at R, the robot should go to the cell whose value is the minimal among all neighbors of R. Problem 4 (Path Planning): Suppose the Wavefront algorithm provides the following grid map, where: 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 eight-neighborhood when propagating through the map Use eight-neighborhood when finding a path Highlight the path found. At the very first step starting at R, the robot should go to the cell whose value is the minimal among all neighbors of R