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“Quiz”<strong>Bug</strong> 2 analysis<strong>Bug</strong> 2: Path BoundsWhat are upper/lower bounds on thepath length that the robot takes?D = straight-line distance from start to goalP i = perimeter of the i th obstacleLower bound:What’s the shortestdistance it might travel?DUpper bound:What’s the longestdistance it might travel?D + Σin i2P in i = # of s-line intersections of the i th obstacleWhat is an environment where your upper bound is required?16-735, Howie Choset with slides from G.D. Hager and Z. Dodds