You are controlling a very small differential drive robot whose wheels are 4cm apart.

The robot starts at $(x_{\rm s},y_{\rm s},\theta_{\rm s})=(5\text{cm},5\text{cm},0)$ and wants to travel to $(x_{\rm g},y_{\rm g},\theta_{\rm g})=(10\text{cm},10\text{cm},\pi/2)$.

The velocity of each wheel must remain between $-2\text{cm}/\text{s}$ and $2\text{cm}/{s}$.

Plan actions to move the robot from its starting point to its goal. Specifically, you should write one or more actions, each of the form $(v_l, v_r)$, along with an amount of time $\Delta t$ to execute each action. Show your work.