(Solved): The navigation of autonomous robotic platforms includes mission planning. Mission planning involve ...

The navigation of autonomous robotic platforms includes mission planning. Mission planning involves defining the path to be taken by the robotic platform to reach a goal (position). This process involves a set of possible robot configurations to find a path from point A to point \( B \) and the temporal sequence of configurations starts from an initial configuration (A) to the final configuration (B). a) Describe in your own words, the concept of robot configuration, exemplifying for the case of a robot with the kinematic configuration of a unicycle robot as the figure below with 2 of the wheels being responsible for the change of direction. b) Formally define the problem of path planning based on the configuration space representation of point (a). c) What is the set of variables in the configuration space of a circular mobile robot ( 2 wheels) that moves in a plane? d) Is the robot configuration space of line (c) a Euclidean space? e) Describe the main strategies you know for preparing a trajectory planning.