an autonomous drone is moving along the ground (which we can model as r2). the drone starts at its charging base and moves 2 meters forwards (we can assume that the drone moves along the x-axis in this step). the drone then turns 20◦left and moves forwards 3 meters. the drone then turns 50◦left and moves forwards 4 meters. the drone then turns 100◦right and moves forwards 5 meters.