Implement a simple motion planner for a point robot operating in the plane. The planner should be based on an approximate cell decomposition approach using a quadtree representation of empty space....

Implement a simple motion planner for a point robot operating in the plane. The planner should be based on an approximate cell decomposition approach using a quadtree representation of empty space. Given an appropriate description of objects in the environment and the minimum required granularity of the cell decomposition, construct a quadtree of the robot’s free space. Leaves in the quadtree should be used to construct an adjacency graph of the free space, and A∗ should be used to search the resulting graph for the shortest path from the robot’s current state to a specified goal location.