Accordingly, answer the following questions. When you need to specify a location or direction in your explanations, use the coordinate system given under the programs. For example, the vehicle travels along the X-axis at a speed of 2 m/s. Evaluate each option independently. If not specified, take the initial position and orientation of the vehicle to 0. a) When psi0 = pi/4, how does the vehicle's motion and position change? b) How should we modify the program to set the starting position of the vehicle to the point (1,1)? c) When u = 0; v = 0; r = 0.2; how does the vehicle start from which position and at what speed? When u = 0.4; v = 0; r = 0; how does the vehicle start from which position and at what speed? When u = = 0.3; v = 0.3; r = 0.1 ; how does the vehicle start from which position and at what speed? eta(:,i+1)=eta(:,i)+dt*eta_dot(:,i); What is the function of that line? Explain by writing an equation. d) e) f) he