Implement visibility graph for a two-dimensional polygonal (or three-dimensional polyhedral) robot and work space (Remember to construct the configuration space)
On your web page, show at least two images - one that illustrates a successful planning episode, and one that fails due to the start and goal being in different connected portions of the free space. Include on your web page a brief description (pdf file or html ONLY) of your approach. This report should include all relevant equations and algorithm descriptions, along with a description of any parameters used by your algorithm.