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2.Think of Ψ(p) as defining theheightof the potential terrain at pointp. This function achievesits lowest value att(assumingtis not too close to any obstacle) and its highest value (of∞)along the boundary of any obstacle. The final potential field Ψ is the sum of these variousfunctions.Path Finding via Gradient Descent:Given our potential field, we can apply a physics simu-lator to let our robotic marble flow “downhill” fromstot(and hope it eventually arrives!)How do we compute this path? A natural approach is to compute a path ofLecture 172Spring 2018