Download the two programs and change the geometry and location of the two objects and add a third object. Using 5 different combinations of starting and ending points, run the programs to see if they successfully generate a path from the starting configuration to the goal configuration. Find at least two cases that work and two cases that do not work for the potential function approach. In each case, the trajectory much be such that the path is altered by the presence of at least two of the obstacles. Is it the case that the wavefront expansion always works?