Sampling-based Motion Planning: Tree-Based Approaches (9 points)

Answer the following questions briefly:

(a)(2 points)

What does it mean for a planner to be probabilistically complete? Will a probabilistically com-plete planner indicate that a solution does not exist?(b)(3 points)

List four algorithm components common to sampling-based motion planners that construct aroadmap.

(c)(2 points)

List two algorithm components that RRT uses but EST does not use.

(d)(2 points)

List two algorithm components that EST uses but RRT does not use.