you give circular maze one show figure Determine solve ie path go center outside maze touch wall the maze describe n wall each wall circular straight circular wall describe radius r distance center angle theta_1 theta_2 describe begin end wall clockwise direction Notice swapping angle change wall Straight wall describe angle theta direction wall radii r_1 r_2 describe begin end wall Angles measured degree angle 0 correspond upward point direction angle increase clockwise east direction correspond angle 90