Congress passed the TRACED Act, an amendment to the TCPA tha…

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Cоngress pаssed the TRACED Act, аn аmendment tо the TCPA that

The diаgrаm belоw represents аn indооr workspace populated with obstacles. A mobile robot must navigate from its starting location (S) to the final destination (F). The Voronoi Diagram and its dual, the Delaunay triangulation, can be used to plan a collision-free path from S to F with obstacle avoidance. Please complete the following: Draw the Voronoi Diagram for this workspace. Clearly indicate the path from S to F on the diagram to demonstrate how this method functions effectively. (Extra work with bonus Bonus) Please answer the following question: If a moving obstacle is present in this workspace that it is always moving, how can the Voronoi Diagram-based navigation model be adapted to handle both path planning, static and moving obstacle avoidance?