A robot must find the shortest path between a starting point. s. and a goal location. g. in the two-dimensional space populated by polygonal obstacles shown here. Assume the robot is of infinitesimal size. The path can be adjacent to (touching) the obstacles, but it may not intersect any
1. Copy the diagram and draw the shoatst path between s and g.
2. Although there are an infinite number of points in this 2-D space. what is the minimal set of points that must be considered in searching for a shortest path between an arbitrary s point and an arbitrary g point?
3. Given one of the points in the minimal set you just found, describe a method for generating the successors of this point in the corresponding search graph What are the successor points for pants in the figure?