Q3 10 Points Consider the following square robot: with sides 2cm that can translate but that cannot rotate. The referenc

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Q3 10 Points Consider The Following Square Robot With Sides 2cm That Can Translate But That Cannot Rotate The Referenc 1 (33.79 KiB) Viewed 24 times

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Q3 10 Points Consider the following square robot: with sides 2cm that can translate but that cannot rotate. The reference point of the robot is in the centre of the square. Suppose you need to implement a path planner for this robot using the exact cell decomposition algorithm for the following environment which has hard boundaries (walls). Each square in the environment below is 1x1cm.
Choose files No file chosen } 1cm Q3.1 2 Points Perform any necessary transformations of the space for this robot geometry to apply the exact cell decomposition. If no necessary transformation is required, then explain why. Please select file(s) Select file(s) Save Answer 1cm U
Q3.2 2 Points Draw the resulting space after the exact cell decomposition algorithm is applied. Clearly show the cells generated in the environment. Please select file(s) Select file(s) Save Answer Q3.3 2 Points Create the graph that will be generated after the exact cell decomposition algorithm is applied. Submit Final assessment | Gradescope Please select file(s) Select file(s) Choose files No file chosen Save Answer
Q3.4 2 Points Assuming that the robot is placed on the following position (top right) and the goal is to move from that position to the star position. Using your graph from (iii), draw the collision-free path the robot will take to move in the environment, clearly showing the vertices of the path and the cells from (ii). If no collision-free path exists, explain where the collision occurs. Please select file(s) Select file(s) Save Answer
Q3.5 1 Point Assuming that a collision-free path is given to the robot, describe a controller that can follow this path (max 2-3 sentences). Enter your answer here Submit Final assessment | Gradescope Save Answer
Q3.6 1 Point State the planning type of the exact cell decomposition (global or local) and state the major advantage of this planning type (global or local) (max 2-3 sentences). Enter your answer here Save Answer