Consider SC(X), the safe configuration space for two robots on the space X shown on the right in Figure 6.36. (a) Sketch a representation of SC(X), showing how it can be constructed by gluing together subsets in a manner similar to our construction of SC2 (Y). (b) On your representation of SC(X), sketch a path illustrating a relocation that switches the robots' positions, starting with robot A at the top left of X and robot B at the top right. Describe the corresponding robot maneuvers. PX FIGURE 6.36: The spaces P and X.