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t
s
ca
lab
le
n
av
i
g
atio
n
co
n
tr
o
l
an
d
s
y
n
ch
r
o
n
izatio
n
m
ec
h
a
n
i
s
m
o
f
m
u
ltip
l
e
n
et
w
o
r
k
ed
r
o
b
o
ts
f
o
r
o
p
er
atio
n
i
n
lar
g
e
co
n
f
in
ed
ar
ea
s
i
s
p
r
o
p
o
s
ed
.
A
n
ad
ap
tab
le
g
r
id
b
a
s
ed
n
a
v
i
g
atio
n
an
d
co
n
tr
o
l
s
tr
ateg
y
is
ad
o
p
ted
to
eli
m
in
ate
p
o
ten
tial
co
ll
is
io
n
s
a
m
o
n
g
r
o
b
o
ts
.
T
h
e
n
o
d
e
-
o
r
d
er
in
g
tech
n
iq
u
e
i
s
p
r
o
p
o
s
ed
an
d
in
co
r
p
o
r
ated
in
to
th
e
o
v
er
all
m
ec
h
an
is
m
w
h
er
e
th
e
s
p
ee
d
o
f
i
n
d
iv
id
u
al
r
o
b
o
t
is
ad
j
u
s
ted
to
av
o
id
th
e
n
a
v
i
g
atio
n
d
ea
d
lo
ck
s
a
s
w
el
l
as
h
a
n
d
li
n
g
o
f
t
h
e
u
n
ex
p
ec
ted
o
b
s
tacle
s
i
n
t
h
e
n
a
v
ig
a
tio
n
p
at
h
s
.
Du
r
in
g
th
e
n
a
v
i
g
atio
n
,
t
h
e
i
n
f
o
r
m
atio
n
ab
o
u
t
o
b
s
tacle
s
in
th
e
n
a
v
ig
a
tio
n
p
ath
s
is
g
ath
e
r
ed
lo
ca
ll
y
b
y
t
h
e
r
o
b
o
ts
f
o
r
im
p
r
o
v
in
g
th
e
o
v
e
r
all
p
ath
p
lan
n
i
n
g
a
n
d
n
av
i
g
a
tio
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
co
llab
o
r
ates
w
it
h
th
e
ex
is
t
in
g
s
u
r
v
eilla
n
ce
s
y
s
te
m
s
in
ca
s
e
ad
d
itio
n
al
v
i
s
u
al
i
n
f
o
r
m
at
io
n
is
n
ec
e
s
s
ar
y
.
T
h
e
i
n
ter
ac
tio
n
w
it
h
t
h
e
s
u
r
v
eilla
n
ce
s
y
s
te
m
i
s
m
i
n
i
m
i
ze
d
s
o
t
h
at
t
h
e
o
v
er
h
ea
d
ca
u
s
ed
b
y
co
llab
o
r
atin
g
w
i
th
t
h
e
n
av
i
g
atio
n
s
y
s
te
m
w
o
u
ld
n
o
t h
i
n
d
er
th
e
n
o
r
m
al
s
u
r
v
eil
lan
ce
o
p
er
atio
n
.
T
h
e
r
em
ai
n
d
er
o
f
t
h
is
p
ap
er
h
as
5
s
ec
tio
n
s
.
I
n
Sec
tio
n
2
,
we
p
r
esen
t
t
h
e
o
v
er
v
ie
w
o
f
t
h
e
ap
p
licatio
n
m
o
d
el
an
d
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
i
n
cl
u
d
in
g
t
h
e
p
r
o
b
le
m
d
e
s
cr
ip
tio
n
s
.
Sectio
n
3
p
r
ese
n
ts
t
h
e
b
asic
n
a
v
i
g
atio
n
p
r
in
cip
les
i
n
cl
u
d
in
g
ce
n
t
r
aliz
ed
s
y
n
ch
r
o
n
izatio
n
a
n
d
co
n
tr
o
l
m
et
h
o
d
o
lo
g
y
f
o
r
th
e
lar
g
e
-
s
ca
le
en
v
ir
o
n
m
e
n
t.
Sectio
n
4
.
p
r
esen
ts
th
e
e
x
ten
s
io
n
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
w
h
ich
i
n
co
r
p
o
r
ates
s
tatic
an
d
d
y
n
a
m
ic
o
b
s
tacle
h
an
d
li
n
g
i
n
th
e
n
a
v
i
g
atio
n
e
n
v
ir
o
n
m
en
t.
I
n
Sectio
n
5
,
w
e
e
v
alu
a
te
t
h
e
p
r
o
p
o
s
ed
p
ath
p
la
n
n
i
n
g
m
et
h
o
d
o
lo
g
y
w
it
h
a
lar
g
e
-
s
ca
le
s
ce
n
ar
io
.
Fin
all
y
,
o
u
r
co
n
tr
ib
u
tio
n
is
s
u
m
m
ar
ized
in
Sect
io
n
6
.
alo
n
g
w
i
th
f
u
t
u
r
e
w
o
r
k
.
2.
M
O
T
I
VAT
I
O
N
AND
AP
P
R
O
ACH
2
.
1
.
Appl
ica
t
io
n
M
o
del a
nd
M
o
t
iv
a
t
io
n
Fig
u
r
e
1
ill
u
s
tr
ates
a
lar
g
e
a
n
d
co
n
f
in
ed
e
n
v
ir
o
n
m
en
t
w
h
er
e
m
u
ltip
le
r
o
b
o
ts
n
a
v
i
g
ate
i
n
t
h
e
p
r
esen
ce
o
f
h
u
m
a
n
tr
af
f
ic.
B
o
th
s
tati
c
an
d
d
y
n
a
m
ic
o
b
s
tacle
s
m
a
y
b
e
p
lace
d
.
T
h
e
r
o
b
o
ts
ar
e
co
n
tr
o
lled
b
y
th
e
n
av
i
g
atio
n
s
y
s
te
m
w
h
ic
h
h
a
n
d
les
all
s
er
v
ices
co
n
c
u
r
r
en
tl
y
.
T
y
p
icall
y
,
t
h
e
en
v
ir
o
n
m
e
n
t
h
as
t
h
e
ca
m
er
as
f
o
r
s
u
r
v
eilla
n
ce
o
p
er
atio
n
s
.
T
h
e
n
av
i
g
atio
n
s
y
s
te
m
m
a
y
i
n
ter
ac
t
w
it
h
t
h
e
s
u
r
v
eilla
n
ce
s
y
s
te
m
f
o
r
m
o
r
e
ac
c
u
r
ate
d
ec
is
io
n
m
a
k
i
n
g
f
o
r
th
e
r
o
b
o
t n
av
i
g
atio
n
.
T
h
e
n
av
i
g
atio
n
s
y
s
te
m
m
u
s
t
m
ee
t
th
e
p
o
w
er
a
n
d
ti
m
i
n
g
r
e
q
u
ir
e
m
e
n
ts
.
T
h
is
ap
p
licatio
n
m
o
d
el
ca
n
b
e
u
s
ed
i
n
d
if
f
er
en
t
t
y
p
e
s
o
f
s
er
v
ice
e
n
v
ir
o
n
m
en
t
s
u
c
h
a
s
p
r
o
v
id
in
g
w
h
ee
lc
h
air
s
er
v
ice
s
a
n
d
d
eliv
er
in
g
to
o
ls
w
it
h
i
n
t
h
e
m
a
n
u
f
ac
tu
r
i
n
g
f
ac
i
liti
es.
A
lar
g
er
e
n
v
ir
o
n
m
e
n
t
c
an
b
e
co
v
er
ed
b
y
i
n
tr
o
d
u
cin
g
m
u
ltip
le
w
ir
eles
s
n
et
w
o
r
k
c
l
u
s
ter
s
ac
r
o
s
s
th
e
e
n
t
ir
e
s
er
v
ice
ar
ea
f
o
r
i
m
p
r
o
v
ed
co
m
m
u
n
icatio
n
r
eliab
ili
t
y
.
2
.
2
.
P
r
o
ble
m
De
s
cr
iptio
n a
n
d
I
s
s
ue
s
O
ne
of
t
he
ke
y
o
bj
e
ct
i
ve
s
f
or
t
he
na
vi
ga
t
i
on
s
ys
t
e
m
i
s
t
o
c
o
nt
r
ol
t
he
m
ul
ti
pl
e
r
o
bo
t
s
s
i
m
ul
t
a
ne
o
us
l
y
w
it
h
ou
t
i
nt
e
r
f
e
r
i
ng
w
it
h
hu
m
a
n
t
r
a
f
f
i
c
s
.
Mor
e
o
ve
r
,
t
he
r
ob
ot
s
m
us
t
b
e
a
bl
e
t
o
ha
n
dl
e
s
t
at
i
c
ob
s
t
a
c
l
e
s
a
s
w
e
l
l
a
s
u
ne
x
pe
c
t
e
d
dy
na
m
i
c
o
bs
t
a
cl
e
s
.
A
s
t
he
n
u
m
be
r
of
op
e
r
a
t
i
ng
r
o
bo
t
s
i
nc
r
e
a
s
e
s
,
t
he
na
vi
ga
t
i
on
s
ys
t
e
m
m
us
t
b
e
a
bl
e
t
o
ha
n
dl
e
c
on
ge
s
ti
o
n
ca
us
e
d
b
y
r
o
b
ot
s
t
he
m
s
e
l
v
e
s
.
T
he
na
vi
ga
ti
o
n
s
ys
t
e
m
m
us
t
b
e
a
bl
e
t
o
i
nt
e
r
a
ct
w
it
h
e
xi
s
ti
n
g
s
ur
ve
il
l
a
nc
e
s
ys
t
e
m
s
w
i
t
h
m
i
ni
m
a
l
i
m
p
a
ct
on
t
he
no
r
m
a
l
s
ur
ve
il
l
a
nc
e
o
pe
r
a
ti
o
n.
T
he
vi
s
ua
l
s
ur
ve
il
l
a
nc
e
s
ys
t
e
m
c
a
n
a
s
s
i
s
t
t
he
na
vi
ga
ti
o
n
s
ys
t
e
m
i
n
m
a
ki
n
g
m
or
e
a
cc
ur
a
t
e
na
vi
ga
ti
on
de
c
i
s
i
o
ns
.
O
ve
r
vi
e
w
of
t
he
i
nt
e
r
a
c
ti
o
n
be
t
w
e
e
n
t
he
na
vi
ga
t
i
on
a
nd
s
ur
ve
il
l
a
nc
e
s
ys
t
e
m
i
s
il
l
us
t
r
a
te
d
i
n
F
i
g
ur
e
2.
I
n
or
de
r
t
o
ha
nd
l
e
t
he
d
yn
a
m
i
c
c
ha
n
ge
s
i
n
t
he
na
vi
g
at
i
o
n
e
n
vi
r
o
n
m
e
nt
,
t
he
na
vi
ga
ti
o
n
s
ys
t
e
m
cl
os
e
l
y
i
nt
e
r
a
c
t
s
w
it
h
t
he
pa
t
h
pl
a
nn
i
n
g
s
ys
t
e
m
w
he
r
e
t
he
na
vi
g
at
i
o
n
pa
t
hs
f
or
t
he
r
o
bo
t
s
a
r
e
c
r
e
at
e
d.
W
hi
l
e
t
he
p
a
t
h
pl
a
n
ni
n
g
s
ys
t
e
m
i
s
a
n
i
nt
e
gr
a
l
pa
r
t
of
t
he
o
ve
r
a
ll
s
y
s
t
e
m
,
w
e
l
i
m
it
o
ur
s
c
op
e
t
o
t
he
na
vi
ga
t
i
on
c
o
nt
r
ol
s
ys
t
e
m
a
n
d
i
nt
e
r
f
a
ci
n
g
w
i
t
h
t
he
pa
t
h
pl
a
nn
i
n
g
s
ys
t
e
m
.
2.
3
.
Ap
pro
a
ch
a
nd
Ass
u
m
pt
io
n
I
n
th
i
s
p
ap
er
,
w
e
p
r
o
p
o
s
e
a
g
r
id
-
b
ased
r
o
b
o
t
n
av
ig
at
io
n
.
T
h
e
g
r
id
tt
is
d
ef
in
ed
as
a
r
ec
tan
g
u
lar
r
eg
io
n
.
T
h
e
en
tire
en
v
ir
o
n
m
e
n
t is d
iv
id
ed
in
to
g
r
id
s
a
s
s
h
o
w
n
in
Fig
u
r
e
3
.
T
h
e
s
er
v
er
m
ain
tain
s
t
h
e
lo
ca
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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6
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2
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98
82
Fig
u
r
e
1
.
I
llu
s
tr
a
tio
n
o
f
m
u
lt
ip
le
r
o
b
o
ts
n
av
ig
at
in
g
i
n
th
e
p
r
e
s
en
ce
o
f
t
h
u
m
a
n
tr
a
f
f
ics.
Vis
u
al
ass
is
tan
ce
to
t
h
e
n
av
i
g
atio
n
s
y
s
te
m
i
s
s
u
p
p
o
r
ted
b
y
t
h
e
ex
i
s
ti
n
g
s
u
r
v
eilla
n
ce
s
y
s
te
m
I
n
f
o
r
m
a
tio
n
o
f
all
g
r
id
s
w
ith
u
n
iq
u
e
in
d
ice
s
.
T
h
e
s
eg
m
e
n
t
in
f
o
r
m
atio
n
f
r
o
m
t
h
e
p
ath
p
lan
n
i
n
g
f
o
r
each
r
o
b
o
t
in
clu
d
es
r
o
b
o
t
in
d
ex
,
s
eq
u
e
n
ce
o
f
g
r
id
in
d
ice
s
an
d
n
av
i
g
atio
n
d
ea
d
lin
e.
T
h
e
s
e
g
m
en
t
u
s
u
al
l
y
in
d
icate
s
co
n
f
in
ed
s
p
ac
es
(
e.
g
.
co
r
r
id
o
r
)
in
th
e
en
v
ir
o
n
m
e
n
t.
T
h
e
n
u
m
b
er
o
f
g
r
id
s
in
t
h
e
s
e
g
m
e
n
t
o
f
ea
ch
r
o
b
o
t
m
a
y
d
if
f
er
.
Giv
e
n
g
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id
s
f
o
r
e
ac
h
r
o
b
o
t
to
n
av
ig
a
te
th
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o
u
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h
,
t
h
e
s
y
s
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m
d
ir
ec
ts
ea
c
h
r
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b
o
t
to
th
e
g
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id
s
ass
i
g
n
ed
to
t
h
e
m
w
h
ile
e
x
c
h
an
g
i
n
g
n
ec
es
s
ar
y
in
f
o
r
m
a
tio
n
at
ea
c
h
g
r
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.
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h
e
co
m
m
u
n
ic
atio
n
s
o
v
er
h
ea
d
i
s
m
i
n
i
m
ized
w
h
ile
m
a
x
i
m
izi
n
g
th
e
n
av
ig
at
io
n
f
le
x
ib
ilit
y
,
t
h
e
p
r
o
p
o
s
ed
n
av
i
g
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n
s
y
s
te
m
i
n
co
r
p
o
r
ates a
d
ap
tiv
e
g
r
id
r
eso
lu
tio
n
m
ec
h
a
n
i
s
m
.
T
h
e
ad
ap
tiv
e
g
r
id
r
eso
lu
tio
n
p
r
o
v
id
es
a
ca
p
ab
ilit
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o
f
f
i
n
e
n
a
v
ig
a
tio
n
w
h
en
t
h
e
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b
o
ts
n
ee
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to
n
a
v
i
g
ate
t
h
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o
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g
h
o
b
s
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at
h
er
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h
a
n
ta
k
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i
f
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er
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n
t
p
at
h
s
o
r
w
ai
t
u
n
t
i
l
th
e
o
b
s
tacle
s
ar
e
clea
r
ed
.
Mu
lti
-
ce
ll
r
ela
y
s
tr
u
ct
u
r
e
is
u
s
ed
in
th
e
p
r
o
p
o
s
ed
n
av
ig
atio
n
s
y
s
te
m
to
b
e
s
ca
lab
le
to
co
v
er
th
e
lar
g
e
ar
ea
s
.
W
h
ile
th
er
e
ar
e
d
is
tr
ib
u
ted
an
d
ce
n
tr
alize
d
co
n
tr
o
l
m
e
ch
an
i
s
m
s
,
w
e
u
s
e
t
h
e
ce
n
tr
aliz
ed
co
m
m
u
n
icatio
n
m
o
d
el
w
h
er
e
t
h
e
s
y
s
te
m
co
n
t
r
o
ls
in
d
iv
id
u
al
r
o
b
o
ts
f
o
r
n
av
ig
atio
n
.
T
h
e
ce
n
tr
alize
d
m
ec
h
an
is
m
h
as
a
lo
t
o
f
ad
v
an
ta
g
es
o
v
er
t
h
e
d
i
s
tr
ib
u
te
d
m
ec
h
an
i
s
m
esp
ec
ial
l
y
i
n
co
n
f
in
ed
ar
ea
s
f
o
r
o
v
er
s
ee
i
n
g
t
h
e
en
tire
n
a
v
i
g
atio
n
en
v
ir
o
n
m
e
n
t
w
h
ic
h
allo
w
s
m
o
r
e
ef
f
ec
ti
v
e
r
eso
u
r
ce
u
t
ilizatio
n
.
T
o
h
an
d
le
a
lar
g
e
n
u
m
b
er
o
f
co
n
cu
r
r
en
t
n
av
i
-
g
atio
n
o
f
r
o
b
o
ts
w
it
h
o
u
t
p
o
ten
tial
co
llis
io
n
s
a
n
d
d
ea
d
lo
ck
s
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th
e
s
p
ee
d
co
n
tr
o
l
m
an
a
g
e
m
e
n
t
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h
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n
is
m
u
s
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th
e
n
o
d
e
-
o
r
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er
in
g
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p
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s
ed
w
h
er
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e
-
o
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ar
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e
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b
o
t n
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ig
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tio
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u
r
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2
.
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llu
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tr
ati
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f
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cti
o
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al
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ter
ac
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s
.
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h
e
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a
v
ig
at
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o
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m
co
m
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icate
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r
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illa
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te
m
f
o
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as
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is
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ce
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h
e
p
ath
g
e
n
er
atio
n
o
f
th
e
r
o
b
o
ts
ar
e
s
u
p
p
o
r
ted
b
y
th
e
p
ath
p
lan
n
in
g
s
y
s
te
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
A
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8
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etw
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ervice
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iz
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ystem
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s
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u
r
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3
.
I
llu
s
tr
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o
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ased
m
ap
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a
n
d
n
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ig
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n
.
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p
ath
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ep
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b
y
a
s
eq
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o
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g
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o
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ir
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e
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ate
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s
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al
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f
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m
at
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o
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th
e
n
a
v
ig
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n
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te
m
,
t
h
e
n
a
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ig
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s
y
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co
llab
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o
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ates
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it
h
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e
e
x
i
s
ti
n
g
s
u
r
v
ei
llan
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s
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m
.
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h
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m
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m
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ter
ac
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f
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y
u
t
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th
e
s
e
n
s
o
r
i
n
f
o
r
m
atio
n
f
r
o
m
t
h
e
r
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b
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f
o
r
co
n
s
tr
u
cti
n
g
t
h
e
o
b
s
tacle
s
m
ap
d
y
n
a
m
icall
y
wh
ich
is
u
s
ed
f
o
r
co
n
tr
o
lli
n
g
th
e
f
lo
w
o
f
th
e
r
o
b
o
ts
.
W
ith
th
e
m
i
n
i
m
u
m
a
m
o
u
n
t o
f
in
ter
a
ctio
n
,
th
e
p
r
o
p
o
s
ed
s
y
s
t
e
m
i
s
d
esi
g
n
ed
to
m
o
n
ito
r
t
h
e
lo
ca
tio
n
i
n
f
o
r
m
atio
n
o
f
o
b
s
t
ac
les
i
n
ad
d
itio
n
to
th
e
lo
ca
lized
i
n
f
o
r
m
atio
n
g
ath
er
ed
b
y
t
h
e
r
o
b
o
ts
i
n
t
h
e
ar
ea
.
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h
is
p
er
io
d
ic
m
o
n
i
to
r
in
g
en
a
b
les
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
to
o
b
tain
th
e
c
h
an
g
e
s
in
n
a
v
i
g
atio
n
ca
p
ac
it
y
o
f
th
e
co
r
r
id
o
r
s
.
T
h
e
co
m
b
i
n
ed
in
f
o
r
m
atio
n
is
u
s
ed
f
o
r
th
e
ad
ap
tiv
e
n
a
v
i
g
atio
n
b
y
p
r
o
v
id
in
g
t
h
e
in
f
o
r
m
at
io
n
to
th
e
p
ath
p
lan
n
i
n
g
f
o
r
r
er
o
u
tin
g
o
f
t
h
e
r
o
b
o
ts
.
3.
RE
SU
L
T
S NA
V
I
G
AT
I
O
N
AND
SYNCH
RO
N
I
Z
A
T
I
O
N
ST
RA
T
E
G
Y
3
.
1
.
G
rid B
a
s
ed
Co
ncurre
nt
Na
v
ig
a
t
i
o
n
Fig
u
r
e
4
illu
s
tr
ate
s
th
e
o
v
e
r
v
ie
w
o
f
th
e
m
u
ltip
le
r
o
b
o
t
co
n
cu
r
r
en
t
n
a
v
i
g
atio
n
p
lat
f
o
r
m
.
T
h
e
n
av
i
g
atio
n
s
er
v
er
co
n
tr
o
ls
th
e
r
o
b
o
ts
th
r
o
u
g
h
a
co
m
m
u
n
icat
io
n
li
n
k
.
T
h
e
n
av
i
g
atio
n
s
er
v
er
also
co
m
m
u
n
icate
s
w
it
h
t
h
e
ex
is
t
i
n
g
s
u
r
v
e
illa
n
ce
s
y
s
te
m
f
o
r
v
is
u
al
ass
i
s
ta
n
ce
.
T
h
e
n
av
ig
at
io
n
s
er
v
er
,
th
e
r
o
b
o
ts
,
an
d
t
h
e
s
u
r
v
eilla
n
ce
s
y
s
te
m
s
h
ar
e
t
h
e
co
m
m
o
n
m
ap
f
o
r
th
e
s
y
n
c
h
r
o
n
ized
co
o
r
d
in
atio
n
.
T
h
e
m
ap
i
s
r
ep
r
esen
ted
w
it
h
g
r
id
s
as
ill
u
s
tr
ated
in
Fi
g
u
r
e
5
.
T
h
e
s
ize
o
f
th
e
g
r
id
is
ad
j
u
s
tab
le
w
h
er
e
th
e
co
ar
s
e
g
r
id
is
t
y
p
icall
y
u
s
ed
f
o
r
th
e
n
o
r
m
a
l
n
av
ig
atio
n
a
n
d
th
e
f
i
n
e
g
r
id
is
u
s
ed
f
o
r
n
a
v
i
g
ati
n
g
in
f
i
n
er
r
eso
lu
tio
n
.
E
ac
h
r
o
b
o
t m
a
y
b
e
ass
ig
n
ed
w
it
h
d
if
f
er
en
t
g
r
id
s
ize
d
ep
en
d
in
g
o
n
th
e
n
a
v
i
g
atio
n
e
n
v
ir
o
n
m
en
t o
f
th
e
ar
ea
.
F
i
gu
r
e
4.
O
ve
r
a
ll
o
pe
r
a
ti
on
a
l
W
or
kf
l
o
w
.
T
he
s
e
r
ve
r
c
o
m
m
u
ni
c
at
e
s
w
it
h
t
he
m
ul
ti
pl
e
r
o
bo
t
s
s
i
m
ul
t
a
ne
o
us
l
y.
T
he
s
e
r
ve
r
a
ls
o
c
o
m
m
u
ni
c
at
e
s
w
i
t
h
t
he
e
xi
s
t
i
ng
vi
s
ua
l
s
e
ns
or
ne
t
w
or
k
f
or
ob
t
a
i
ni
ng
vi
s
ua
l
da
t
a.
T
he
s
e
r
ve
r
na
vi
g
at
e
s
a
nd
s
y
nc
hr
o
ni
z
e
s
t
he
r
o
bo
t
us
i
ng
t
he
c
o
m
m
o
n
m
a
p
a
nd
o
bs
t
a
cl
e
i
nf
or
m
a
t
i
on
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
-
4856
I
J
R
A
Vo
l.
6
,
No
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2
,
J
u
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2
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Fig
u
r
e
5
.
I
llu
s
tr
atio
n
o
f
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e
g
r
i
d
b
ased
m
ap
an
d
its
g
r
ap
h
ical
r
ep
r
esen
tatio
n
.
E
ac
h
co
r
r
id
o
r
is
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ep
r
esen
ted
w
it
h
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n
ed
g
e
w
h
il
e
ea
ch
in
ter
s
ec
tio
n
i
s
r
ep
r
esen
t
ed
w
it
h
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n
o
d
e.
Mu
ltip
le
g
r
id
r
eso
lu
tio
n
s
ar
e
p
o
s
s
ib
le.
E
ac
h
s
eg
m
e
n
t h
a
s
its
o
w
n
ca
p
ac
it
y
T
h
e
p
ath
o
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th
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o
b
o
t
(
i.e
.
,
s
o
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r
ce
to
d
esti
n
atio
n
)
is
r
ep
r
esen
ted
as
a
s
eq
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e
n
ce
o
f
g
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id
s
w
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er
e
th
e
c
en
ter
p
o
s
itio
n
s
o
f
th
e
g
r
id
s
ar
e
an
n
o
tated
in
th
e
m
ap
.
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h
e
n
av
ig
a
tin
g
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er
v
er
ca
n
d
eter
m
i
n
e
th
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lo
ca
tio
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o
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th
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r
o
b
o
t
b
y
i
ts
c
u
r
r
en
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g
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id
in
d
e
x
.
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h
e
n
av
i
g
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n
s
er
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er
e
n
s
u
r
es
th
a
t
t
w
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ts
n
e
v
er
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ta
y
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t
h
e
s
a
m
e
g
r
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a
t
an
y
g
i
v
en
t
i
m
e.
T
h
e
s
er
v
er
m
ai
n
tai
n
s
t
h
e
p
ath
i
n
f
o
r
m
ati
o
n
o
f
all
r
o
b
o
ts
in
th
e
i
n
ter
n
al
d
ata
s
tr
u
ctu
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e
as
illu
s
tr
ated
in
T
ab
le
1
.
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ac
h
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t m
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y
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d
if
f
er
e
n
t g
r
id
t
y
p
es.
A
d
d
itio
n
all
y
t
h
e
lis
t o
f
s
e
g
m
e
n
t
s
f
o
r
r
o
b
o
ts
to
n
av
i
g
ate
t
h
r
o
u
g
h
i
s
also
m
ain
t
ain
ed
w
ith
in
t
h
e
s
er
v
er
.
T
ab
le
1
.
T
h
e
P
ath
I
n
f
o
r
m
atio
n
Data
Stru
ct
u
r
e
Ma
in
ta
in
ed
b
y
t
h
e
Ser
v
er
.
T
h
e
P
ath
I
n
f
o
r
m
a
t
io
n
o
f
t
h
e
R
o
b
o
ts
a
r
e
Gen
er
ated
b
y
t
h
e
P
ath
P
lan
n
in
g
S
y
s
te
m
R
o
b
o
t
Ind
ex
Gr
i
d
T
y
p
e
Gr
i
d
L
i
st
S
eg
men
t
L
i
st
Nod
e
L
i
st
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
T
h
e
r
o
b
o
ts
ar
e
ca
p
ab
le
o
f
lo
ca
lizin
g
i
ts
el
f
w
it
h
in
t
h
e
co
n
f
i
n
ed
ar
ea
a
n
d
d
etec
t
a
n
y
u
n
ex
p
ec
ted
o
b
s
tacle
s
w
it
h
th
e
ir
o
w
n
p
r
o
x
i
m
it
y
s
e
n
s
o
r
s
.
I
n
ca
s
es
w
h
e
n
t
h
e
r
o
b
o
t
f
ails
to
lo
ca
lize
it
s
el
f
,
th
e
r
o
b
o
t
r
eq
u
ests
v
is
u
al
lo
ca
lizatio
n
ass
i
s
ta
n
ce
f
r
o
m
t
h
e
s
u
r
v
ei
llan
ce
s
y
s
te
m
s
t
h
r
o
u
g
h
t
h
e
s
er
v
er
.
3
.
2
.
Sy
nchro
niza
t
io
n a
nd
C
o
mm
un
ica
t
io
n P
ro
t
o
co
l
T
h
e
r
o
b
o
ts
n
a
v
ig
a
te
b
y
f
o
llo
win
g
th
e
g
r
id
s
eq
u
en
ce
p
r
o
v
id
ed
b
y
t
h
e
s
er
v
er
.
Fi
g
u
r
e
6
ill
u
s
t
r
ates
b
asic
f
u
n
ctio
n
al
m
ec
h
a
n
is
m
o
f
th
e
r
o
b
o
ts
co
m
m
u
n
icat
in
g
w
it
h
s
er
v
er
f
o
r
s
y
n
c
h
r
o
n
izatio
n
an
d
co
n
tr
o
l.
E
ac
h
ti
m
et
h
e
r
o
b
o
t
ar
r
iv
es
at
a
g
r
id
,
th
e
r
o
b
o
t
s
en
d
s
t
h
e
ar
r
iv
al
n
o
ti
f
icatio
n
to
th
e
s
er
v
er
,
a
n
d
co
n
ti
n
u
e
s
to
th
e
n
e
x
t
g
r
id
in
th
e
s
eq
u
en
ce
.
Up
o
n
r
ec
ei
v
i
n
g
th
e
ar
r
iv
al
n
o
ti
f
icatio
n
,
th
e
s
er
v
er
r
esp
o
n
d
s
w
it
h
ac
k
n
o
w
led
g
e
m
en
t to
th
e
r
o
b
o
t.
I
f
t
h
e
s
er
v
er
’
s
ac
k
n
o
w
led
g
e
m
en
t
i
s
n
o
t
r
ec
ei
v
ed
b
ef
o
r
e
lea
v
in
g
th
e
cu
r
r
e
n
t
g
r
i
d
,
th
e
r
o
b
o
t
s
to
p
s
.
T
h
e
r
ea
s
o
n
f
o
r
th
e
s
to
p
i
s
to
a
v
o
id
p
o
ten
tial
co
ll
is
io
n
b
y
v
io
lat
in
g
m
u
ltip
le
r
o
b
o
ts
i
n
t
h
e
s
a
m
e
g
r
id
co
n
d
itio
n
.
T
h
is
in
ter
ac
tio
n
is
i
llu
s
tr
ated
in
Fi
g
u
r
e
7
.
A
s
lo
n
g
as
d
/v
max
>
T
c
,
th
e
co
n
tin
u
o
u
s
n
av
i
g
atio
n
is
p
o
s
s
ib
le
w
h
er
e
d
r
ep
r
ese
n
ts
t
h
e
d
i
s
ta
n
ce
to
t
h
e
n
e
x
t
g
r
id
,
v
max
is
th
e
m
a
x
i
m
u
m
s
p
ee
d
o
f
t
h
e
r
o
b
o
t,
an
d
T
c
r
ep
r
esen
t
s
t
h
e
m
ax
i
m
u
m
s
er
v
er
r
esp
o
n
s
e
ti
m
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
A
I
SS
N:
2
0
8
9
-
4856
N
etw
o
r
ke
d
S
ervice
R
o
b
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ts
C
o
n
tr
o
l a
n
d
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yn
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r
o
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iz
a
tio
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w
ith
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ve
illa
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ce
S
ystem
A
s
s
is
ta
n
ce
(
Do
u
g
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im)
85
Fig
u
r
e
6
.
Fu
n
c
tio
n
al
d
ia
g
r
a
m
o
f
th
e
r
o
b
o
t o
p
er
atio
n
.
T
h
e
o
p
er
atio
n
co
n
s
i
s
ts
p
o
s
itio
n
co
m
p
u
tatio
n
,
n
av
ig
a
-
tio
n
an
d
s
p
ee
d
co
n
tr
o
l,
an
d
in
ter
f
a
ce
w
it
h
t
h
e
s
er
v
er
F
i
gu
r
e
7.
I
l
l
us
t
r
at
i
o
n
of
c
o
m
m
u
ni
c
at
i
o
ns
be
t
w
e
e
n
t
he
r
ob
ot
a
nd
t
he
s
e
r
ve
r
.
T
he
r
o
b
ot
s
s
e
nd
s
a
r
r
i
va
l
m
e
s
s
a
ge
t
o
t
he
s
e
r
ve
r
a
t
t
1
a
nd
e
x
pe
c
t
s
t
he
s
e
r
ve
r
a
c
k
n
o
w
l
e
d
ge
m
e
nt
by
t
2
Hen
ce
,
th
e
r
o
b
o
ts
m
a
k
e
co
m
m
u
n
icat
io
n
w
it
h
th
e
s
er
v
er
at
ev
er
y
g
r
id
.
A
s
s
h
o
w
n
i
n
Fi
g
u
r
e
8
,
th
e
f
r
eq
u
en
c
y
o
f
t
h
e
r
o
b
o
t
co
m
m
u
n
icat
io
n
d
ep
en
d
s
o
n
th
e
s
ize
o
f
g
r
id
s
.
I
f
th
e
g
r
id
s
ize
is
s
m
all,
th
e
co
m
m
u
n
icatio
n
tr
af
f
ic
i
n
cr
ea
s
es.
Mo
r
eo
v
er
,
th
e
co
m
m
u
n
ica
tio
n
tr
a
f
f
ic
i
n
cr
ea
s
es
as
th
e
n
u
m
b
er
o
f
th
e
r
o
b
o
ts
in
cr
ea
s
es.
D
u
r
i
n
g
th
e
n
o
r
m
al
o
p
er
atio
n
,
th
e
s
y
s
te
m
p
r
ef
er
s
to
u
s
e
as
lar
g
e
g
r
id
s
ize
as
p
o
s
s
ib
le.
B
ec
au
s
e
th
e
s
er
v
er
r
ec
eiv
e
s
all
t
h
e
s
tat
u
s
i
n
f
o
r
m
atio
n
f
r
o
m
t
h
e
r
o
b
o
ts
,
th
e
s
er
v
er
ca
n
al
w
a
y
s
m
ai
n
tai
n
th
e
lo
ca
tio
n
s
o
f
all
r
o
b
o
ts
.
T
h
e
s
er
v
er
en
s
u
r
es
t
h
a
t
n
o
t
w
o
o
r
m
o
r
e
r
o
b
o
ts
n
a
v
ig
ate
to
th
e
s
a
m
e
g
r
id
at
th
e
s
a
m
e
ti
m
e
to
av
o
id
a
n
y
p
o
ten
tial c
o
llis
io
n
b
y
co
n
tr
o
lli
n
g
t
h
e
s
p
ee
d
s
o
f
t
h
e
r
o
b
o
ts
as w
e
w
i
ll d
is
cu
s
s
i
n
Sectio
n
4
.
Fig
u
r
e
8
.
T
h
e
s
er
v
er
an
d
r
o
b
o
t
s
c
o
m
m
u
n
i
ca
tio
n
f
r
eq
u
e
n
cie
s
.
T
h
e
f
r
eq
u
en
c
y
o
f
th
e
co
m
m
u
n
icatio
n
d
ep
en
d
s
o
n
th
e
s
ize
o
f
th
e
g
r
id
s
an
d
t
h
e
n
u
m
b
er
o
f
r
o
b
o
ts
.
T
h
e
s
er
v
er
m
ai
n
tai
n
s
th
e
r
o
b
o
t
s
tat
u
s
i
n
f
o
r
m
atio
n
as
in
T
ab
le
2
.
T
h
e
s
tatu
s
f
o
r
ea
c
h
r
o
b
o
t
in
cl
u
d
es
th
e
cu
r
r
en
t
s
p
ee
d
,
th
e
n
a
v
i
g
at
io
n
s
tat
u
s
w
h
e
th
er
th
e
r
o
b
o
t
is
cu
r
r
en
tl
y
in
id
le,
s
to
p
,
o
r
m
o
v
in
g
.
T
h
e
cu
r
r
en
t
lo
ca
tio
n
o
f
t
h
e
r
o
b
o
t
is
r
ep
r
es
en
ted
b
y
th
e
s
eg
m
e
n
t
a
n
d
g
r
i
d
in
d
ices.
T
h
e
r
an
g
e
o
f
t
h
e
p
r
o
x
i
m
i
t
y
s
en
s
o
r
an
d
th
e
s
er
v
er
s
ta
tu
s
ar
e
also
m
a
i
n
tai
n
ed
.
T
h
e
s
er
v
er
s
tatu
s
i
n
d
icate
s
th
e
o
u
t
s
ta
n
d
in
g
r
esp
o
n
s
es
th
a
t
th
e
s
er
v
er
m
u
s
t
p
er
f
o
r
m
.
T
h
e
s
p
ee
d
,
s
en
s
o
r
r
an
g
e,
g
r
id
t
y
p
e,
an
d
in
itial
lo
ca
tio
n
ar
e
in
itia
lized
w
h
en
t
h
e
p
ath
i
s
ass
i
g
n
ed
.
Ho
w
ev
er
,
t
h
ese
p
ar
am
eter
s
m
a
y
c
h
a
n
g
e
b
y
t
h
e
s
er
v
er
d
ep
en
d
in
g
o
n
th
e
n
av
ig
at
i
o
n
co
n
d
itio
n
s
.
A
l
g
o
r
ith
m
1
ill
u
s
tr
ates
t
h
e
r
o
b
o
t
n
av
i
g
atio
n
al
g
o
r
ith
m
.
I
n
ad
d
itio
n
to
th
e
p
r
o
ce
s
s
o
f
th
e
b
asic
g
r
id
b
ased
n
av
i
g
atio
n
,
t
h
e
p
r
o
ce
s
s
o
f
h
a
n
d
lin
g
t
h
e
o
b
s
tacle
s
as
w
el
l
as
th
e
i
n
ter
ac
tio
n
with
t
h
e
s
er
v
er
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
-
4856
I
J
R
A
Vo
l.
6
,
No
.
2
,
J
u
n
e
2
0
1
7
:
8
0
–
98
86
d
escr
ib
ed
.
T
h
ese
p
r
o
ce
s
s
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ar
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d
is
cu
s
s
ed
in
th
e
n
e
x
t
s
ec
tio
n
w
h
er
e
w
e
co
n
s
id
er
d
y
n
a
m
ic
u
n
ex
p
ec
ted
o
b
s
tacle
s
as
w
ell
as i
n
ter
f
er
en
ce
s
f
r
o
m
t
h
e
o
th
er
r
o
b
o
ts
.
3
.
3
.
E
x
t
ens
io
n t
o
M
ulti
-
Cell
E
nv
iro
n
m
e
nts
I
n
o
r
d
er
to
s
u
p
p
o
r
t
th
e
lar
g
e
-
s
ca
le
en
v
ir
o
n
m
e
n
t,
m
u
lt
ip
le
co
m
m
u
n
icatio
n
r
ela
y
s
n
ee
d
to
b
e
d
ep
lo
y
ed
s
o
th
at
t
h
e
s
er
v
er
a
n
d
t
h
e
r
o
b
o
ts
ca
n
co
m
m
u
n
ica
te
r
eliab
l
y
t
h
r
o
u
g
h
o
u
t
t
h
e
lar
g
e
ar
ea
th
at
m
a
y
n
o
t
b
e
co
v
er
ed
b
y
a
s
i
n
g
le
r
ad
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lin
k
.
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ac
h
r
ela
y
lin
k
is
r
ep
r
esen
ted
b
y
a
ce
ll,
w
h
ich
i
s
a
t
y
p
ical
w
a
y
o
f
d
iv
id
in
g
a
l
ar
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v
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ag
e
ar
ea
in
a
w
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eles
s
co
m
m
u
n
icatio
n
n
et
w
o
r
k
.
Al
g
o
ri
t
h
m
1
R
o
b
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N
a
v
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g
a
ti
o
n
A
l
g
o
ri
t
h
m
1:
2
:
R
o
b
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s
i
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i
a
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y
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;
3
:
R
o
bo
t
s
ta
rt
to n
a
v
iga
te
w
he
n
the
s
e
r
v
e
r
i
n
itia
te
th
e
p
r
o
c
e
s
s
;
4:
5
:
R
ob
o
t
N
a
v
iga
tio
n
P
r
o
c
e
s
s
;
6
:
fo
r
(e
a
c
h
t
i
m
e
i
n
t
e
r
v
a
l
)
do
7:
d
e
te
rm
ine
the
c
u
rr
e
n
t
p
o
s
itio
n
;
8:
i
f
(
u
n
k
n
o
w
n
p
o
s
i
t
i
o
n
)
th
e
n
9:
s
to
p
;
10:
n
o
t
i
f
y
t
h
e
s
e
rve
r
by
c
a
l
l
i
n
g
n
o
ti
f
y
p
o
s
i
ti
o
n
(
)
;
11:
end
if
12:
i
f
(
ri
g
h
t
b
e
f
o
re
t
h
e
n
e
x
t
g
ri
d
)
th
en
13:
i
f
(
p
re
v
i
o
u
s
g
r
i
d
s
t
a
t
u
s
n
o
t
re
c
e
i
v
e
d
)
th
en
14:
s
to
p
;
15:
el
s
e
16:
n
o
t
i
f
y
t
h
e
s
e
rve
r
by
c
a
l
l
i
n
g
n
o
ti
f
y
g
ri
d
(
)
;
17:
c
o
n
tinu
e
;
18:
end
if
19:
end
if
2
0
:
end
f
o
r
21:
2
2
:
O
b
s
ta
c
le
Ev
e
n
t
P
r
o
c
e
s
s
;
2
3
:
w
a
it
f
o
r
s
e
n
s
o
r
e
ve
n
t;
2
4
:
i
f
(
o
b
s
t
a
c
l
e
d
e
t
e
c
t
e
d
)
th
en
25:
s
to
p
;
26:
n
o
t
i
f
y
t
h
e
s
e
rve
r
by
c
a
l
l
i
n
g
n
o
ti
f
y
o
b
s
t
a
cl
e(
)
;
2
7
:
end
i
f
28:
2
9
:
S
e
rve
r
Eve
n
t
P
ro
c
e
s
s
;
3
0
:
w
a
it
f
o
r
e
v
e
n
t
fr
o
m s
e
r
v
e
r;
3
1
:
i
f
(
ro
b
o
t
i
n
i
t
i
a
l
i
z
a
t
i
o
n
)
th
e
n
32:
in
itia
liz
e
th
e
r
o
bo
t
(pa
th
,
s
e
ttin
g
s
)
a
n
d
s
top
;
3
3
:
end
i
f
3
4
:
i
f
(
m
o
d
i
fy
s
e
t
t
i
n
g
)
th
en
35:
m
o
d
ify
th
e
s
e
ttin
g (
s
p
e
e
d,
s
e
n
s
o
r,
p
a
t
h
)
a
n
d
c
o
n
tinu
e
;
3
6
:
end
i
f
3
7
:
i
f
(
re
s
u
m
e
)
t
h
e
n
38:
re
s
u
me
w
ith
the
g
i
v
e
n
p
a
th
;
3
9
:
end
i
f
4
0
:
i
f
(
s
t
o
p
)
th
en
41:
s
to
p
a
n
d w
a
it
fo
r
n
e
x
t
c
o
mm
a
n
d
;
4
2
:
end
i
f
43:
4
4
:
N
o
t
i
f
i
c
a
t
i
o
n
T
o
S
e
r
v
e
r
P
r
o
c
e
s
s
;
4
5
:
no
t
i
f
y
g
rid(
)
;
4
6
:
n
o
t
if
y
o
bs
t
a
cle(
)
;
4
7
:
n
o
t
if
y
po
s
it
io
n()
;
48:
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tain
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on
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4
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o
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o
t
n
av
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h
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p
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o
f
ac
q
u
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i
n
g
v
is
u
al
in
f
o
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m
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n
.
T
h
e
p
r
o
p
o
s
ed
n
av
i
g
atio
n
s
y
s
te
m
in
ter
f
ac
e
s
w
it
h
t
h
e
ex
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s
ti
n
g
s
u
r
v
eilla
n
ce
n
et
w
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r
k
f
o
r
v
is
u
al
as
s
is
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ce
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h
e
p
r
o
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ed
s
y
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te
m
is
d
esi
g
n
ed
t
o
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o
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th
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ti
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w
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m
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m
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m
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b
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w
ee
n
th
e
s
er
v
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an
d
Nser
v
ice
is
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e
n
u
m
b
er
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eq
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e
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e
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m
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ased
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ex
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f
t
w
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r
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b
o
ts
r
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t
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ased
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
-
4856
I
J
R
A
Vo
l.
6
,
No
.
2
,
J
u
n
e
2
0
1
7
:
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0
–
98
88
Fig
u
r
e
1
0
illu
s
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ates
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e
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atter
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h
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h
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ests
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ice
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e
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o
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ar
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a
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a
t
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ce
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ice
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r
e
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elativ
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e
.
B
u
t in
t
h
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ec
o
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a
m
p
le
s
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o
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at
s
i
g
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f
ica
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t ser
v
ice
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ela
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s
i
n
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r
r
ed
d
u
e
to
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w
s
er
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ice
p
ar
am
eter
s
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F
i
gu
r
e
1
0
.
I
ll
us
t
r
a
ti
on
of
s
e
r
vi
c
e
ti
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i
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t
he
s
ur
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il
l
a
n
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e
s
ys
t
e
m
4.
E
NVI
RO
NM
E
NT
ADAP
T
A
T
I
O
N
4
.
1
.
Dy
na
m
ic
O
b
s
t
a
cle
M
a
na
g
e
m
ent
Fro
m
t
h
e
n
av
ig
at
in
g
r
o
b
o
t’
s
p
er
s
p
ec
tiv
e,
t
h
er
e
ar
e
t
h
r
ee
d
if
f
er
en
t
t
y
p
e
s
o
f
o
b
s
tacle
s
.
T
h
e
f
ir
s
t
t
y
p
e
i
s
o
th
er
r
o
b
o
ts
th
at
ar
e
n
a
v
i
g
ati
n
g
i
n
t
h
e
s
a
m
e
co
r
r
id
o
r
.
T
h
is
t
y
p
e
o
f
o
b
s
tac
les
i
s
n
o
t
cr
i
tical
to
t
h
e
s
y
s
te
m
o
p
er
atio
n
s
in
ce
t
h
e
n
a
v
ig
a
tio
n
s
er
v
er
h
a
s
t
h
e
in
f
o
r
m
at
io
n
ab
o
u
t
t
h
e
n
a
v
ig
a
tio
n
d
ir
ec
tio
n
s
a
n
d
t
h
e
p
o
s
itio
n
s
o
f
all
r
o
b
o
ts
.
Hen
ce
,
w
h
en
th
er
e
ar
e
m
u
ltip
le
r
o
b
o
ts
n
a
v
i
g
ati
n
g
w
it
h
i
n
t
h
e
s
a
m
e
co
r
r
id
o
r
,
th
e
s
en
s
o
r
r
an
g
e
s
ar
e
ad
j
u
s
ted
ac
co
r
d
in
g
l
y
to
eli
m
i
n
ate
u
n
n
ec
e
s
s
ar
y
s
to
p
p
ag
e
b
y
t
h
e
r
o
b
o
ts
.
T
h
e
s
ec
o
n
d
t
y
p
e
i
s
w
h
e
n
t
h
e
o
b
s
tacle
s
th
e
m
o
v
in
g
o
b
j
ec
ts
s
u
ch
as
h
u
m
a
n
s
.
W
h
en
t
h
e
r
o
b
o
t
en
co
u
n
ter
s
th
e
m
o
v
i
n
g
o
b
s
tacle
s
,
p
r
io
r
t
o
s
en
d
in
g
t
h
e
m
es
s
ag
e
to
th
e
s
er
v
er
,
th
e
r
o
b
o
t
m
o
n
ito
r
s
th
e
c
h
an
g
es
i
n
d
is
tan
ce
f
r
o
m
i
ts
el
f
to
th
e
o
b
s
tacl
e.
I
f
th
e
d
is
tan
ce
i
s
ch
an
g
i
n
g
,
t
h
e
r
o
b
o
t
co
n
s
id
er
s
it
as
a
m
o
v
in
g
o
b
s
tacle
a
n
d
w
aits
u
n
til
t
h
e
o
b
s
tacle
i
s
clea
r
ed
f
r
o
m
th
e
s
en
s
o
r
r
an
g
e.
O
n
ce
it
is
clea
r
ed
,
th
e
r
o
b
o
t
r
esu
m
e
s
th
e
n
av
ig
at
io
n
.
T
h
e
th
ir
d
ty
p
e
is
t
h
e
s
tatic
o
b
s
tacle
th
at
is
s
e
m
i
-
p
er
m
a
n
e
n
tl
y
p
lace
d
w
it
h
in
t
h
e
co
r
r
id
o
r
.
W
h
en
th
e
r
o
b
o
t
is
f
ac
ed
w
it
h
t
h
e
s
tatic
o
b
s
tacl
es,
th
e
r
o
b
o
t
n
ee
d
s
ad
d
itio
n
al
p
ath
in
f
o
r
m
atio
n
to
r
er
o
u
te
an
d
b
y
p
as
s
th
e
o
b
s
tacl
es.
I
llu
s
tr
atio
n
o
f
t
h
e
d
ata
s
tr
u
ctu
r
e
w
it
h
o
b
s
tacle
in
f
o
r
m
atio
n
a
s
s
h
o
w
n
in
T
ab
le
3
.
T
h
e
o
b
s
tacle
in
f
o
r
m
atio
n
is
m
a
in
-
tai
n
ed
f
o
r
ea
ch
g
r
id
.
T
h
e
g
r
id
f
lag
is
s
e
t
w
h
e
n
ev
er
t
h
e
r
o
b
o
t
is
s
to
p
p
e
d
d
u
e
to
an
o
b
s
tacle
(
s
)
.
W
h
en
th
e
n
ex
t
r
o
b
o
t
g
o
es
th
r
o
u
g
h
th
i
s
g
r
id
w
it
h
o
u
t
s
to
p
p
in
g
,
t
h
e
f
la
g
is
clea
r
ed
.
T
ab
le
3
.
I
llu
s
tr
atio
n
o
f
t
h
e
d
ata
s
tr
u
ct
u
r
e
w
ith
o
b
s
tacle
i
n
f
o
r
m
atio
n
G
r
i
d
I
n
d
e
x
G
r
i
d
Ty
p
e
O
b
st
a
c
l
e
S
t
a
t
u
s
O
b
st
a
c
l
e
T
i
me
S
e
g
me
n
t
I
n
d
e
x
1
C
NO
---
1
2
C
Y
ES
2
:
1
2
2
3
F
No
---
3
...
...
...
...
...
T
h
e
s
tatic
o
b
s
tacle
s
ca
n
d
is
tu
r
b
n
av
i
g
atio
n
o
f
o
th
er
r
o
b
o
ts
in
later
ti
m
e
s
.
I
n
o
r
d
er
to
m
in
i
m
ize
u
n
n
ec
es
s
ar
y
s
to
p
p
in
g
ti
m
e,
t
h
e
o
b
s
tacle
m
ap
i
s
g
en
er
ated
.
W
h
en
t
h
e
r
o
b
o
t
is
s
to
p
p
ed
d
u
e
to
an
o
b
s
tacle
,
t
h
e
s
er
v
er
an
n
o
tates
th
e
p
o
s
i
tio
n
o
f
t
h
e
o
b
s
tacle
i
n
t
h
e
g
r
id
.
T
h
e
o
b
s
tacle
m
ap
d
ata
s
tr
u
ct
u
r
e
is
s
h
o
w
n
i
n
t
h
e
T
ab
le
3
.
T
h
e
n
av
i
g
atio
n
s
er
v
er
u
s
es
t
h
e
o
b
s
tacle
m
ap
in
f
o
r
m
a
tio
n
t
o
d
eter
m
i
n
e
th
e
g
r
id
t
y
p
e
an
d
th
e
s
e
n
s
o
r
r
an
g
e
o
f
th
e
r
o
b
o
ts
en
ter
in
g
t
h
e
co
r
r
id
o
r
w
i
th
th
e
o
b
s
tacle
to
a
v
o
id
s
t
o
p
p
ag
e.
Mo
r
eo
v
er
,
th
e
p
ath
p
l
an
n
i
n
g
s
y
s
te
m
u
s
e
s
th
e
o
b
s
tacle
m
ap
in
f
o
r
m
a
tio
n
f
o
r
m
o
r
e
e
f
f
icie
n
t
in
it
ial
p
at
h
d
esig
n
.
W
h
e
n
t
h
e
o
b
s
tacle
s
ar
e
clea
r
ed
as t
h
e
n
e
x
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
A
I
SS
N:
2
0
8
9
-
4856
N
etw
o
r
ke
d
S
ervice
R
o
b
o
ts
C
o
n
tr
o
l a
n
d
S
yn
ch
r
o
n
iz
a
tio
n
w
ith
S
u
r
ve
illa
n
ce
S
ystem
A
s
s
is
ta
n
ce
(
Do
u
g
K
im)
89
r
o
b
o
t
d
o
es
n
o
t
d
etec
t
t
h
e
o
b
s
ta
cle,
th
e
s
er
v
er
r
e
m
o
v
es
th
e
o
b
s
tacle
f
r
o
m
t
h
e
o
b
s
tac
le
m
ap
.
T
h
u
s
,
t
h
e
n
av
i
g
ati
n
g
r
o
b
o
ts
p
r
o
v
id
e
th
e
n
ec
es
s
ar
y
i
n
f
o
r
m
atio
n
to
co
n
s
t
an
tl
y
k
ee
p
t
h
e
o
b
s
tacle
m
ap
u
p
to
d
ate.
W
h
en
th
e
n
av
i
g
ati
n
g
s
er
v
er
r
ec
eiv
es
t
h
e
v
is
u
al
as
s
is
tan
ce
f
r
o
m
t
h
e
s
u
r
v
eilla
n
ce
s
y
s
te
m
,
t
h
e
o
b
s
tacle
m
ap
ca
n
also
b
e
g
en
er
ated
b
y
d
etec
ti
n
g
o
b
s
tacl
es v
i
s
u
all
y
.
W
h
en
t
h
e
s
ta
tic
o
b
s
tacle
s
ar
e
d
etec
ted
af
ter
th
e
i
n
itial
p
at
h
p
lan
n
i
n
g
,
th
e
ca
p
ac
it
y
o
f
t
h
e
s
eg
m
e
n
ts
b
ec
o
m
e
s
les
s
t
h
an
p
r
ed
icted
.
T
h
is
m
a
y
p
o
ten
tial
l
y
g
e
n
er
ate
th
e
n
av
i
g
atio
n
d
ea
d
lo
c
k
ca
u
s
i
n
g
th
e
p
at
h
p
lan
n
i
n
g
s
y
s
te
m
to
r
ep
lan
t
h
e
a
f
f
ec
te
d
p
ath
s
.
He
n
ce
,
t
h
e
n
a
v
i
g
ati
o
n
s
y
s
te
m
co
n
s
tan
t
l
y
u
p
d
ate
s
t
h
e
p
at
h
p
lan
n
i
n
g
s
y
s
te
m
w
i
th
o
b
s
tacle
i
n
f
o
r
m
at
io
n
.
Sin
ce
t
h
e
f
o
c
u
s
o
f
t
h
i
s
p
ap
er
is
o
n
th
e
n
a
v
i
g
atio
n
,
t
h
e
p
ath
p
lan
n
i
n
g
s
y
s
te
m
is
n
o
t
d
is
cu
s
s
ed
.
W
e
s
i
m
p
l
y
ass
u
m
e
t
h
at
th
e
p
ath
p
lan
n
i
n
g
s
y
s
te
m
i
s
ca
p
ab
le
o
f
p
r
o
v
i
d
in
g
t
h
e
n
av
ig
at
io
n
s
y
s
te
m
w
it
h
n
e
w
p
at
h
s
w
h
en
n
ec
ess
ar
y
s
u
c
h
as i
n
th
is
s
i
tu
at
i
o
n
.
4
.
2
.
Virt
ua
l G
rid A
da
pta
t
io
n f
o
r
F
ine G
ra
in Na
v
ig
a
t
io
n
Gr
id
ad
ap
tatio
n
d
u
r
in
g
th
e
n
a
v
ig
a
tio
n
is
v
er
y
cr
itical
f
o
r
m
ax
i
m
izi
n
g
t
h
e
r
o
b
o
t
u
tili
za
tio
n
.
T
h
e
g
r
id
ch
an
g
es
to
th
e
f
in
er
g
r
id
w
h
en
ev
er
th
e
o
b
s
tacle
s
ar
e
d
etec
ted
o
r
th
er
e
ar
e
o
th
er
r
o
b
o
ts
n
a
v
i
g
ati
n
g
in
th
e
s
a
m
e
co
r
r
id
o
r
.
I
n
th
e
n
o
r
m
al
n
a
v
i
g
a
tio
n
,
th
e
lar
g
est
p
o
s
s
ib
le
g
r
id
s
ize
is
u
s
ed
s
i
n
ce
t
h
e
u
s
a
g
e
o
f
s
m
al
ler
g
r
id
s
izes
in
cr
ea
s
es
t
h
e
co
m
m
u
n
icatio
n
o
v
er
h
ea
d
.
W
h
e
n
o
b
s
tacle
s
ar
e
d
etec
ted
,
th
e
s
ize
o
f
g
r
id
m
u
s
t
b
e
ch
a
n
g
ed
t
o
p
r
o
v
id
e
f
in
e
n
av
ig
at
io
n
ar
o
u
n
d
th
e
o
b
s
tacle
s
if
p
o
s
s
ib
le
r
ath
er
th
a
n
r
eq
u
esti
n
g
a
n
e
w
p
at
h
.
T
h
e
g
r
id
ad
ap
tatio
n
is
i
llu
s
tr
ated
i
n
F
ig
u
r
e
12
.
T
h
e
g
r
id
s
ize
ca
n
b
e
c
h
an
g
ed
eit
h
er
b
y
th
e
r
eq
u
est
o
f
t
h
e
r
o
b
o
ts
o
r
b
y
th
e
s
er
v
er
af
ter
lear
n
in
g
t
h
r
o
u
g
h
o
t
h
er
r
o
b
o
ts
r
ep
o
r
tin
g
t
h
e
o
b
s
tacle
s
.
T
h
e
illu
s
tr
atio
n
o
f
r
o
b
o
t
h
as
a
f
r
o
n
t
d
is
tan
ce
s
e
n
s
o
r
to
d
etec
t a
n
y
o
b
s
tacle
as s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
.
Fig
u
r
e
1
1
.
T
h
e
r
o
b
o
t h
as a
f
r
o
n
t d
is
ta
n
ce
s
e
n
s
o
r
to
d
etec
t a
n
y
o
b
s
tacle
.
T
h
e
r
an
g
e
o
f
th
e
s
en
s
o
r
d
ep
e
n
d
s
o
n
th
e
n
a
v
i
g
atio
n
al
co
n
d
i
tio
n
.
I
n
n
o
r
m
al
co
ar
s
e
g
r
id
b
a
s
ed
n
av
i
g
atio
n
,
t
h
e
r
an
g
e
i
s
s
et
to
a
lar
g
e
v
alu
e.
W
h
en
f
i
n
e
n
a
v
i
g
atio
n
is
n
ec
es
s
ar
y
(
i.e
.
,
av
o
id
in
g
o
b
s
tacle
s
)
,
th
e
r
an
g
e
i
s
r
ed
u
ce
d
f
o
r
a
q
u
ick
er
r
ea
ctio
n
.
T
h
e
n
a
v
ig
a
tio
n
s
er
v
er
s
en
d
s
th
e
r
an
g
e
s
ettin
g
to
th
e
r
o
b
o
ts
Fig
u
r
e
1
2
.
Mu
ltip
le
g
r
id
co
n
f
i
g
u
r
atio
n
s
ar
e
u
t
ilized
in
t
h
e
s
y
s
te
m
.
A
f
i
n
er
g
r
id
t
y
p
e
is
u
s
ed
w
h
en
f
i
n
e
n
av
i
g
atio
n
is
n
ec
es
s
ar
y
to
n
a
v
i
g
ate
th
r
o
u
g
h
o
b
s
tacle
s
.
A
r
ea
li
s
tic
s
it
u
atio
n
is
s
h
o
w
n
in
F
ig
u
r
e
1
3
w
h
er
e
t
h
e
f
in
er
g
r
id
s
ar
e
u
s
ed
at
t
h
e
i
n
ter
s
ec
tio
n
o
f
t
h
e
m
ap
.
Dep
en
d
in
g
o
n
t
h
e
p
r
ese
n
ce
o
f
o
b
s
tacle
s
,
th
e
s
ize
o
f
g
r
id
ch
an
g
es
f
o
r
th
e
f
in
er
n
av
i
g
atio
n
.
T
h
r
ee
r
o
b
o
ts
ar
e
u
s
ed
f
o
r
th
e
il
lu
s
tr
atio
n
wh
er
e
ea
ch
r
o
b
o
t
h
as
a
s
p
ec
i
f
ic
p
ath
f
r
o
m
t
h
e
i
n
itial
lo
ca
tio
n
to
th
e
d
esti
n
a
tio
n
.
T
h
e
tim
in
g
r
elatio
n
s
h
ip
is
il
lu
s
tr
ated
in
Fi
g
u
r
e
1
4
.
T
h
e
s
en
s
o
r
is
u
s
ed
to
d
etec
t
th
e
o
b
s
tacle
s
b
y
t
h
e
r
o
b
o
t.
T
h
e
r
an
g
e
o
f
t
h
e
s
e
n
s
o
r
i
s
s
et
b
y
t
h
e
n
a
v
ig
at
io
n
s
er
v
er
b
ased
o
n
t
h
e
s
ize
o
f
g
r
id
b
ein
g
e
m
p
lo
y
e
d
.
T
h
is
is
ill
u
s
tr
ated
in
Fi
g
u
r
e
1
1
.
W
h
en
th
e
o
b
s
ta
cles
ar
e
d
etec
ted
,
th
e
r
o
b
o
t
s
t
o
p
s
an
d
s
en
d
s
m
es
s
a
g
e
to
th
e
s
er
v
er
an
d
w
a
its
f
o
r
n
ex
t
co
m
m
a
n
d
.
I
f
t
h
e
o
b
s
tacl
es
ar
e
clea
r
ed
b
ef
o
r
e
th
e
r
esp
o
n
s
e
f
r
o
m
t
h
e
n
av
i
g
atio
n
s
er
v
er
ar
r
iv
es
t
h
e
r
o
b
o
t
s
en
d
s
m
e
s
s
a
g
e
to
th
e
n
a
v
i
g
ati
o
n
s
er
v
er
in
d
icat
in
g
t
h
e
c
lear
ed
p
ath
.
I
f
th
e
o
b
s
tacle
s
ar
e
n
o
t
clea
r
ed
f
o
r
ce
r
tai
n
a
m
o
u
n
t
o
f
ti
m
e,
th
e
n
a
v
i
g
atio
n
s
er
v
er
m
a
y
r
eg
e
n
er
ate
t
h
e
p
ath
w
i
th
t
h
e
f
in
er
g
r
id
s
izes.
Fig
u
r
e
1
5
ill
u
s
tr
ate
s
n
av
i
g
atio
n
p
at
h
s
o
f
t
h
r
ee
r
o
b
o
ts
w
it
h
o
u
t
a
n
y
o
b
s
tacle
s
.
I
n
F
i
g
u
r
e
1
6
,
a
n
o
b
s
tacle
ca
u
s
ed
s
o
m
e
d
ela
y
s
f
o
r
th
e
r
o
b
o
ts
p
er
f
o
r
m
in
g
s
er
v
ice
1
an
d
s
er
v
ice
2
.
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