Homework 2. (15 points)

Write a program for planning a path of a translating polygonal robot from an initial position to a target position in the workspace populated by polygonal obstacles using the concept of Minkowski sum and visibility graph. The program must be able to show the resulting C-Obstacles from the Minkowski sum and the resulting visibility graph. Any programming language is allowed. Write a short report describing your program.

Note: Convex robot and obstacles are okay but implementation that allows nonconvex shapes will be preferrable. You may use any algorithm for computing the Minkowski sum and the visibility graph. The score, of course, will be determined from the effort spent and the quality of the program.