Study how we should act on a robot so that it transfers from a given position to another desired position, in three separate variations of this problem:

• Section A How should we act on the robot - Using simple control signals - so that the robot also passes, as close as possible to certain intermediate points?
• Section B How should we act on the robot - Using simple control signals - so that the robot also passes, as close as possible, to certain intermediate regions?
• Section C How should we act on the robot so that it also passes exactly on as many intermideate points as possible?