
5.4 Experiments
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back through the door, the robot reverses its path and again
circumnavigates the room until it reaches this same door from
the other side. Also, in certain circumstances as shown on the
right in figure 5-13, whole extraneous loops can be added to the
robot's route. Again, this is because the robot does not realize
that it has passed through the same door twice and can prune its
path. Nevertheless, by undertaking this arduous journey the
robot does indeed get home.
5.4 Experiments
Here we investigate the actual performance of the tactical navi-
gation system. The data shown was obtained by strapping a felt-
tipped marker t