Motion planning for mobile robots considering occluded obstacles is a navigation challenge in dynamic environments. If an obstacle suddenly appears from the occluded area. a robot might collide with the obstacle. This is the occlusion problem. https://www.lightemupsequences.com/top-offer-SALE-Skylight-Quilt-PATTERN-P173-by-Fran-Gulick-Riley-Blake-INSTRUCTIONS-Only-Confident-Beginner-Precut-Friendly-Mult-super-offer/