EAI6010 - Module 5: Robotic AI Applications Assignment (Mini-Project) Wavefront planner is a search algorithm for robot navigation in a domain that may have obstacles. It’s closely related to the potential field path planner. Another algorithm to solve the problem is acceptable. 1. Using Python create a script to find the shortest path from point S (start) to point G (goal) through a discretized workspace (6 rows by 12 columns) such as this (“.” designates a cell of free space, “X” designates a cell fully occupied by an obstacle). Use 4-connectivity (research the subject of connectivity in e.g., here): S . . . . . . . . . . . . . . . . . . . . . . . . . . X X X X X X . . . . . . X X X X X X . . . . . . . . . . . . . . . . . . . . . . . . . . G 2. Find a way to visualize the calculated path, including the path length, with the final state of the wave expansion. 3. Change to 8-connectivity, recalculate, visualize and interpret the results. 4. Modify the code so that the coordinates of “S” and “G” are randomly generated (obviously locations of those cannot be in the obstacle area). Run this simulation in a loop. At the end of each simulation display the path. For the sake of the exercise, repeat the loop just 3 times. Either connectivity (4 or 8) is acceptable. For the sake of simplicity, you can restrict randomly generated “S”s to the left half, and “G”s to the right half. 5. Reflect on the results. 6. Run all the cells, make sure all are executed and the output is created. 7. See “Submission” instructions below. Submission Using the web browser’s “Print” function creates a PDF file; it’s your choice whether to execute locally or on Google Colab. Submit the following files: • EAI6010_FirstnameLastname_WeekX_Term_Year.ipynb • EAI6010_FirstnameLastname_ WeekX_Term_Year.pdf https://www.societyofrobots.com/programming_wavefront.shtml https://en.wikipedia.org/wiki/Pixel_connectivity