Figure 7: (a) The robot’s workspace can be divided into four parts, considering the sign of 𝛼 and 𝛽 . The region where both 𝛼 and 𝛽 are positive is called safe region where the robot reaches the goal with no need to pass through the beacons. (b) A set of assumed via points in the workspace; the via points are reached in an order such that the robot is finally located in the safe region.