Problem 6. Localisation using range only information A simple two-dimensional robot localisation problem using range information can be formulated as an optimisation problem. Suppose a mobile robot is navigating in an environment and it observes 4 landmarks. The (x,y) position of the 4 landmarks are known. The robot can only observe the range to the 4 landmarks. The range means the distance between the landmark and the robot. The problem is to estimate the robot position using the ranges and the landmark positions. (1) Generate the range data using the robot pose and 4 landmark positions as shown in the following figure. (2) Derive the model of the localisation problems with 4 landmarks; solve the problem in MATLAB and excel solver. (3) Change the number of landmarks and their positions, formulate and solve the problem again in MATLAB. (4) Discuss the conditions when the problem can or cannot be solved; (5) Write a report. Range only localisation problem with four landmarks (1 to 4)