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Does anyone know the solution of exercise 1: | Characterize ric for the case of a point W = R2 with each coordinate mo eled as a double integrator. Assume that u 1 and u 2 may take any value in-1, 1 Detemnme mass in Xric for 1. A point obstacle at (0,0) in W 2. A segment from (0,-1) to (0, 1) in W

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2 such that χ(X)EXobs pha espreoion a70 7)《 . lo)to (o

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