You must write a program which creates a 2D map of the robot’s environment (a small
room or arena). The map should take one of the following forms:
• A set of 2D points (co-ordinates).
• A set of line segments.
• An occupancy grid.
It must be possible to view the map in one or more of the following ways:
• As a scatter plot (Matlab, excel or openoffice)
• As an image (bmp, jpeg, png, ps, pdf)
• As a real-time image using an appropriate graphics library (RVIZ, DirectX, OpenGL
Your report should outline how your program constructs a map, giving all your working
with diagrams and screenshots. You should also specify any additional external libraries
you have used.