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w
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2.
H
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IJ
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Dec
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201
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:
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r
ted
co
m
p
o
n
en
ts
ar
e
as
s
e
m
b
led
,
w
e
n
o
w
as
s
e
m
b
le
th
e
last
an
d
f
i
n
al
s
h
ee
t
w
i
th
th
ic
k
n
es
s
o
f
ab
o
u
t
1
m
m
u
p
o
n
th
e
s
er
v
o
m
o
to
r
w
it
h
h
elp
o
f
s
p
ac
er
s
to
h
o
ld
th
e
b
lo
ck
e
v
e
n
f
r
o
m
t
h
e
to
p
alo
n
g
w
ith
t
h
e
h
elp
o
f
th
e
ar
m
.
So
th
e
en
tire
m
ac
h
in
e
i
s
ass
e
m
b
led
an
d
th
e
o
n
l
y
f
i
n
al
as
s
e
m
b
l
y
r
eq
u
ir
ed
is
t
h
e
o
b
s
tac
le
s
e
n
s
o
r
w
h
ic
h
is
p
lace
d
s
o
m
e
w
h
er
e
in
t
h
e
f
r
o
n
t
f
ac
i
n
g
t
h
e
b
lo
c
k
b
et
w
ee
n
th
e
s
er
v
o
m
o
to
r
an
d
th
e
DC
m
o
to
r
.
P
ictu
r
e
s
h
o
w
i
n
g
th
e
s
en
s
o
r
ar
r
an
g
e
m
en
t f
o
r
b
lo
ck
d
etec
tio
n
as s
h
o
w
n
i
n
Fi
g
u
r
e
9
.
Fig
u
r
e
9
.
P
ictu
r
e
s
h
o
w
in
g
t
h
e
s
en
s
o
r
ar
r
an
g
e
m
e
n
t
f
o
r
b
lo
ck
d
etec
tio
n
3.
AL
G
O
RI
T
H
M
T
he
r
u
n
is
s
tar
ted
b
y
s
w
itc
h
i
n
g
t
h
e
t
w
o
b
o
ts
at
o
n
ce
.
No
w
t
h
e
r
ed
b
o
t
s
ca
n
s
t
h
e
en
t
ir
e
m
az
e
an
d
s
to
r
es
all
th
e
n
ec
es
s
ar
y
d
etails
in
it‟
s
E
E
P
R
OM
an
d
th
e
n
it
co
m
e
s
b
ac
k
to
its
s
tar
tin
g
p
o
s
it
io
n
.
No
w
it
s
i
g
n
al
s
th
e
B
o
tB
an
d
b
o
th
s
tar
t
th
eir
r
u
n
a
n
d
m
ak
e
th
e
n
ec
es
s
ar
y
tu
r
n
s
a
f
ter
cr
o
s
s
i
n
g
ev
er
y
s
i
x
j
u
n
ct
io
n
s
.
Hen
c
e
m
o
d
i
f
y
i
n
g
t
h
e
v
a
lu
e
s
o
d
th
e
co
-
o
r
d
in
ates
ea
ch
t
i
m
e.
No
w
t
h
e
B
o
tB
n
ee
d
n
o
t
g
o
to
m
az
e
a
n
d
s
ca
n
o
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ce
a
g
ai
n
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u
t
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s
tead
th
e
B
o
tA
s
e
n
d
s
a
ll
th
e
v
al
u
es
to
th
e
B
o
tB
w
ir
eless
l
y
a
n
d
th
e
n
B
o
tB
s
o
lv
es
its
co
r
r
esp
o
n
d
in
g
m
az
e.
T
o
s
o
lv
e
th
e
m
az
e
th
e
m
ac
h
in
e
s
ar
e
p
r
o
g
r
a
m
m
ed
w
it
h
t
h
e
al
g
o
r
ith
m
ca
lled
th
e
f
lo
o
d
f
il
l
alg
o
r
ith
m
[
1
,
2
]
.
Flo
w
ch
ar
t o
f
B
OT
A
as sh
o
w
n
i
n
Fi
g
u
r
e
1
0
.
Flo
w
c
h
ar
t o
f
B
OT
B
as sh
o
w
n
i
n
Fi
g
u
r
e
1
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
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IJ
RA
Vo
l.
6
,
No
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4
,
Dec
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b
er
201
7
:
2
69
–
27
6
274
Fig
u
r
e
1
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Flo
w
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Fig
u
r
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11.
Flo
w
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ar
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B
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B
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
a
n
d
I
m
p
leme
n
ta
tio
n
o
f S
w
a
m
R
o
b
o
tics
u
s
in
g
F
l
o
o
d
F
ill A
lg
o
r
ith
m
(
Ma
r
y
s
w
a
r
n
a
l
a
th
a
g
a
d
e
)
275
3
.
1
F
lo
o
d F
ill Alg
o
rit
h
m
T
h
e
f
lo
o
d
f
ill
alg
o
r
it
h
m
ta
k
es
th
r
ee
p
ar
a
m
eter
s
:
a
s
tar
t
n
o
d
e,
a
tar
g
et
n
o
d
e,
an
d
a
r
ep
lace
m
en
t
n
o
d
e.
T
h
e
alg
o
r
ith
m
lo
o
k
s
f
o
r
all
n
o
d
es
in
th
e
ar
r
a
y
w
h
ic
h
ar
e
c
o
n
n
ec
ted
to
th
e
s
tar
t
n
o
d
e
b
y
a
p
ath
o
f
t
h
e
ta
r
g
et
n
o
d
e,
an
d
ch
an
g
es
t
h
e
m
to
t
h
e
r
ep
lace
m
e
n
t
n
o
d
e.
T
h
er
e
ar
e
m
an
y
w
a
y
s
i
n
w
h
ic
h
th
e
f
lo
o
d
-
f
il
l
alg
o
r
it
h
m
ca
n
b
e
s
tr
u
ct
u
r
ed
,
b
u
t
w
e
ar
e
m
ak
in
g
u
s
e
o
f
a
q
u
eu
e
o
r
s
tac
k
d
ata
s
tr
u
c
tu
r
e
[
4
]
.
P
ictu
r
e
s
h
o
w
i
n
g
t
h
e
ar
e
n
a
w
it
h
n
o
d
es
as s
h
o
w
n
i
n
Fi
g
u
r
e
1
2
.
Star
tin
g
at
an
ar
b
itra
r
y
p
lace
in
th
e
m
az
e,
ac
co
r
d
in
g
to
a
lg
o
r
ith
m
,
t
w
o
d
is
ti
n
ct
s
i
g
n
s
s
h
o
u
ld
b
e
p
ain
ted
alo
n
g
t
h
e
r
o
u
te
.
1
.
A
s
i
g
n
m
ar
k
in
g
t
h
e
en
tr
a
n
c
e
o
f
a
n
e
w
(
n
o
t
y
et
v
i
s
ited
)
j
u
n
ctio
n
.
2
.
A
s
i
g
n
m
ar
k
in
g
a
ch
o
o
s
e
n
r
o
ad
s
tar
tin
g
at
a
j
u
n
ct
io
n
.
A
l
s
o
,
th
er
e
ar
e
t
w
o
r
u
le
s
t
h
at
m
u
s
t b
e
o
b
ey
ed
.
1
.
A
r
o
ad
m
a
y
n
o
t b
e
tr
av
er
s
e
d
t
w
ice
i
n
th
e
s
a
m
e
d
ir
ec
tio
n
.
2
.
T
h
e
en
tr
an
ce
r
o
ad
b
ac
k
f
r
o
m
a
n
o
d
e
to
th
e
p
r
ev
io
u
s
o
n
e
m
a
y
o
n
l
y
b
e
ch
o
o
s
e
n
i
f
all
ex
it
r
o
ad
s
h
av
e
b
ee
n
tr
av
er
s
ed
.
A
l
g
o
r
ith
m
I
m
p
le
m
e
n
tatio
n
a.
Fro
m
th
e
f
i
g
u
r
e
b
elo
w
,
a
s
s
h
o
w
n
i
f
t
h
e
g
r
ee
n
p
ar
t
is
t
h
e
s
tar
tin
g
p
o
in
t
o
f
th
e
m
az
e
t
h
e
n
t
h
e
alg
o
r
ith
m
i
s
d
esig
n
ed
th
at
t
h
e
m
ac
h
i
n
e
al
wa
y
s
c
h
o
o
s
es to
r
ig
h
t u
n
les
s
it i
s
n
o
t o
n
t
h
e
co
lu
m
n
o
f
th
e
d
ep
o
s
it c
o
lu
m
n
.
b.
I
n
ca
s
e
if
th
er
e
is
an
y
n
o
d
e
co
m
in
g
w
h
e
n
th
e
m
ac
h
i
n
e
is
t
r
av
er
s
in
g
to
r
ea
ch
th
e
d
esti
n
a
tio
n
co
lu
m
n
it
ch
an
g
es i
ts
d
ir
ec
tio
n
to
w
ar
d
s
f
o
r
w
ar
d
u
n
t
il th
e
le
f
t/ri
g
h
t j
u
n
c
tio
n
h
a
s
a
n
o
d
e.
c.
No
w
t
h
e
b
o
t
af
ter
r
ea
ch
i
n
g
th
e
d
esti
n
atio
n
co
lu
m
n
g
o
es
f
o
r
w
ar
d
to
r
ea
ch
t
h
e
d
esti
n
atio
n
r
o
w
.
A
n
y
n
o
d
e
obs
tr
u
ctin
g
t
h
e
m
ac
h
i
n
e
‟
s
p
at
h
th
e
it r
ep
ea
ts
t
h
e
s
tep
2
(
in
t
h
is
ca
s
e
it g
o
e
s
f
o
r
w
ar
d
)
.
d.
An
d
i
n
ca
s
e
i
f
t
h
er
e
i
s
n
o
w
a
y
to
g
o
f
o
r
w
ar
d
o
r
le
f
t/ri
g
h
t,
t
h
en
i
n
t
h
is
w
o
r
s
t
ca
s
e
t
h
e
m
a
ch
in
e
s
h
a
v
e
to
tak
e
a
r
ev
er
s
e
p
ath
a
n
d
tr
av
er
s
e
an
y
o
th
er
p
at
h
p
o
s
s
ib
le
ex
ce
p
t th
e
p
ath
b
ef
o
r
e
it
m
ad
e
a
r
ev
er
s
e
tu
r
n
.
Fig
u
r
e
1
2
.
P
ictu
r
e
s
h
o
w
i
n
g
th
e
ar
en
a
w
i
th
n
o
d
es
4.
CO
NCLUS
I
O
N
I
n
th
is
p
ap
er
,
th
e
is
s
u
e
s
r
elate
d
to
s
w
a
m
r
o
b
o
tics
i.e
co
m
m
u
n
icatio
n
,
m
o
b
ile
o
b
j
ec
t tr
ac
k
in
g
a
n
d
p
ath
n
av
i
g
atio
n
ar
e
i
n
v
e
s
ti
g
ated
.
W
e
h
av
e
u
s
ed
C
C
2
5
0
0
R
F
m
o
d
u
le
f
o
r
co
m
m
u
n
icat
io
n
.
Flo
o
d
f
il
l
al
g
o
r
ith
m
i
s
u
s
ed
i
n
m
az
e
s
o
lv
i
n
g
f
o
r
r
o
b
o
t
f
i
n
d
in
g
p
at
h
.
T
h
is
ca
lc
u
lati
o
n
w
o
r
k
s
b
etter
an
d
all
t
h
e
m
o
r
e
ef
f
ec
ti
v
el
y
,
a
n
d
f
u
r
t
h
er
m
o
r
e,
it h
a
s
t
h
e
u
p
s
id
e
o
f
s
m
all
lo
o
k
i
n
g
ti
m
e
a
n
d
f
as
t o
f
lab
y
r
in
t
h
e
x
p
lain
i
n
g
.
RE
F
E
R
E
NC
E
S
[1
]
Eri
c
Bo
n
a
b
e
a
u
,
M
a
rc
o
D
o
rig
o
a
n
d
G
u
y
T
h
e
ra
u
laz
.
(1
9
9
9
)
„S
wa
rm
In
telli
g
e
n
c
e
:
Fro
m
Na
tu
r
a
l
to
Arti
f
icia
l
S
y
ste
ms
‟
,
IS
BN 0
-
19
-
5
1
3
1
5
9
-
2
.
[2
]
M
it
c
h
e
l
Re
sn
ick
„T
u
rtles
,
T
e
rm
it
e
s,
a
n
d
T
r
a
ff
ic
J
a
ms
:
Exp
l
o
ra
ti
o
n
s
in
M
a
ss
ive
ly
Pa
ra
ll
e
l
M
icr
o
w
o
rld
s‟
IS
BN
0
-
262
-
1
8
1
6
2
-
2
[3
]
Ja
m
e
s K
e
n
n
e
d
y
a
n
d
Ru
ss
e
ll
C.
E
b
e
rh
a
rt,
„
S
wa
rm
I
n
telli
g
e
n
c
e
‟
,
IS
BN 1
-
5
5
8
6
0
-
5
9
5
-
9
[4
]
A
n
d
ries
En
g
e
lb
re
c
h
t.
W
il
e
y
&
S
o
n
s
„Fu
n
d
a
me
n
ta
ls
o
f
Co
mp
u
t
a
ti
o
n
a
l
S
wa
rm
I
n
telli
g
e
n
c
e
‟
,
IS
BN
0
-
4
7
0
-
0
9
1
9
1
-
6
[5
]
Je
a
n
-
Ba
p
ti
ste
W
a
ld
n
e
r
„
Na
n
o
c
o
m
p
u
ter
s a
n
d
S
wa
rm
I
n
telli
g
e
n
c
e
„,
IS
T
E,
IS
BN 9
7
8
-
1
-
8
4
7
0
4
-
0
0
2
-
2
,
2
0
0
7
.
[6
]
M
il
ler,
P
e
ter (Ju
ly
2
0
0
7
)
,
"
S
wa
rm
T
h
e
o
ry
"
,
Na
ti
o
n
a
l
G
e
o
g
ra
p
h
ic M
a
g
a
z
in
e
[7
]
S
icili
a
n
o
,
B.
,
&
Kh
a
ti
b
,
O.
(E
d
s.).
(2
0
1
6
)
.
S
p
rin
g
e
r
h
a
n
d
b
o
o
k
o
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2
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Evaluation Warning : The document was created with Spire.PDF for Python.