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r
s
.
I
n
l
ig
h
t
o
f
t
h
is
,
t
h
e
n
a
v
i
g
atio
n
s
y
s
te
m
d
esi
g
n
s
h
o
u
ld
b
e
a
b
le
to
d
o
th
e
f
o
llo
w
i
n
g
s
:
(
i)
r
ea
ct
ef
f
ec
ti
v
el
y
to
u
n
p
r
ed
ictab
le
s
itu
atio
n
s
i
m
m
ed
iatel
y
a
f
ter
th
e
y
h
ap
p
en
,
(
ii)
co
n
s
id
er
m
u
ltip
le
co
n
c
u
r
r
en
t
r
eq
u
ir
e
m
e
n
t
s
in
th
e
p
r
o
ce
s
s
,
an
d
(
iii)
r
ea
ch
th
e
tar
g
et
b
ased
o
n
a
s
p
ec
if
icatio
n
o
b
j
ec
t.
Mo
s
t
o
f
th
e
estab
lis
h
ed
w
o
r
k
s
m
ai
n
l
y
co
n
s
id
e
r
ed
n
av
ig
atio
n
task
s
o
n
l
y
f
o
r
s
i
n
g
le
r
o
b
o
t.
Me
an
w
h
ile,
a
g
r
ea
t
g
r
o
w
in
g
in
ter
e
s
t
h
as
b
ee
n
o
b
s
er
v
ed
i
n
co
o
p
er
ativ
e
ap
p
r
o
ac
h
es,
w
h
ic
h
m
a
k
es
co
m
m
u
n
icatio
n
as
o
n
e
o
f
th
e
v
i
tal
f
o
c
u
s
[
2
1
]
-
[
2
3
]
.
I
n
s
o
m
e
e
n
v
ir
o
n
m
e
n
tal
s
it
u
atio
n
s
,
t
h
e
n
av
i
g
atio
n
f
u
n
ctio
n
s
ar
e
ex
tr
e
m
el
y
d
i
f
f
ic
u
lt
to
b
e
o
v
er
co
m
e
u
s
i
n
g
a
s
in
g
le
r
o
b
o
t.
T
h
e
lar
g
e
ar
ea
f
o
r
s
en
s
in
g
ten
d
s
to
b
e
th
e
r
ea
s
o
n
t
h
at
ca
u
s
e
s
th
e
e
n
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
to
p
o
s
e
a
p
o
s
t
-
d
is
as
t
er
r
elief
an
d
tar
g
et
s
ea
r
ch
i
n
g
i
n
m
ilit
ar
y
ap
p
licat
io
n
s
.
Hen
ce
,
a
s
i
n
g
le
r
o
b
o
t
m
u
s
t
b
e
d
esig
n
ed
w
ith
p
o
w
e
r
f
u
l
s
tr
u
ct
u
r
es
an
d
h
ar
d
w
ar
e
eq
u
ip
m
e
n
t
to
e
n
s
u
r
e
all
th
e
f
u
n
ctio
n
s
ar
e
in
o
r
d
er
[
2
4
]
.
I
n
th
is
ca
s
e,
a
m
o
r
e
ex
p
en
s
i
v
e
d
esi
g
n
co
s
t,
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
,
an
d
lar
g
er
m
e
m
o
r
y
ar
e
h
ig
h
l
y
r
eq
u
ir
ed
to
o
v
er
co
m
e
t
h
is
is
s
u
e.
Ho
w
ev
er
,
i
t
is
i
m
p
o
r
tan
t to
n
o
te
t
h
at
i
f
th
e
r
o
b
o
t f
ails
,
th
e
w
h
o
le
s
y
s
te
m
m
a
y
b
e
af
f
ec
ted
.
C
u
r
r
en
tl
y
,
th
e
s
i
m
p
lest
f
o
r
m
o
f
a
g
r
o
u
p
o
f
r
o
b
o
ts
b
ase
d
o
n
a
n
et
w
o
r
k
d
ev
elo
p
ed
b
y
m
a
n
y
r
esear
ch
er
s
[
2
5
]
-
[
2
8
]
.
T
h
e
r
o
b
o
tics
s
y
s
te
m
i
s
m
ad
e
to
f
u
n
c
tio
n
b
ased
o
n
a
co
o
p
er
ativ
e
ap
p
r
o
ac
h
in
o
r
d
e
r
to
co
m
m
u
n
icate
w
it
h
ea
c
h
o
t
h
er
f
o
r
t
h
e
p
u
r
p
o
s
e
o
f
co
n
d
u
ct
in
g
ta
s
k
s
t
h
at
ar
e
d
if
f
ic
u
lt
to
b
e
p
er
f
o
r
m
ed
o
n
t
h
eir
o
w
n
.
Gen
er
all
y
,
t
h
is
p
ar
tic
u
la
r
j
o
in
t
s
y
s
te
m
i
s
k
n
o
w
n
a
s
s
war
m
s
r
o
b
o
ts
w
h
ic
h
ar
e
m
ad
e
to
f
u
n
ctio
n
b
ased
o
n
th
eir
b
io
lo
g
ical
co
u
n
ter
p
ar
ts
an
d
w
it
h
s
y
s
te
m
s
o
lu
tio
n
t
h
at
is
h
i
g
h
l
y
d
ep
en
d
en
t
o
n
th
r
ee
ch
ar
ac
ter
is
tic
s
,
n
a
m
e
l
y
s
el
f
-
o
r
g
a
n
izatio
n
,
s
el
f
-
ad
ap
tiv
e
n
es
s
,
a
n
d
e
m
er
g
e
n
ce
[
2
9
]
-
[
3
1
]
.
T
h
e
ch
ar
ac
ter
is
tic
s
ar
e
b
ased
o
n
t
h
e
f
ac
t
t
h
at
t
h
e
s
w
ar
m
’
s
o
r
g
a
n
iz
atio
n
o
r
ig
i
n
ates
“f
r
o
m
w
it
h
in
th
e
s
y
s
te
m
n
o
t
i
m
p
o
s
ed
f
r
o
m
o
u
ts
id
e
o
r
it
co
m
e
s
f
r
o
m
lo
ca
l
in
ter
ac
tio
n
s
b
et
w
e
en
in
d
i
v
id
u
al
r
o
b
o
t
in
a
d
ec
e
n
tr
alize
d
w
a
y
”
[
2
9
]
,
[
3
0
]
.
I
n
s
o
m
e
ca
s
es,
th
e
y
ar
e
r
eq
u
ir
ed
to
m
o
v
e
b
et
w
ee
n
t
wo
p
lace
s
w
h
er
eb
y
t
h
e
co
llecti
v
e
n
a
v
i
g
atio
n
h
as
m
ad
e
it
p
o
s
s
ib
le
to
f
u
n
ctio
n
[
2
2
]
,
[
2
9
]
-
[
3
3
]
.
T
h
e
s
w
ar
m
f
o
r
m
atio
n
m
u
s
t
b
e
co
n
tr
o
lled
d
u
e
to
th
e
f
ac
t
s
t
h
at
al
l
r
o
b
o
ts
w
o
r
k
in
a
p
ar
ticu
lar
g
r
o
u
p
w
ith
o
n
e
tar
g
et.
T
h
e
s
w
ar
m
f
o
r
m
atio
n
co
n
tr
o
l
is
p
er
f
o
r
m
ed
w
ith
o
u
t
a
d
esi
g
n
ated
lead
er
;
h
en
ce
,
th
e
co
n
tr
o
l
an
d
co
m
m
u
n
ica
tio
n
s
y
s
te
m
ar
e
h
i
g
h
l
y
d
esira
b
le.
On
to
p
o
f
th
at,
th
e
s
w
ar
m
r
o
b
o
ts
ar
e
s
im
p
le
h
ar
d
w
ar
e,
w
h
ic
h
ex
p
lai
n
s
t
h
e
li
m
i
ted
co
m
p
u
ta
tio
n
al
co
s
t.
A
ll
r
eq
u
ir
e
m
e
n
t
s
ar
e
v
er
y
v
it
al
p
ar
a
m
eter
s
i
n
t
h
e
d
esig
n
o
f
th
e
r
o
b
o
t.
Ho
w
e
v
er
,
it
n
ee
d
s
to
b
e
k
n
o
w
n
th
at
t
h
i
s
is
v
er
y
d
i
f
f
icu
lt
to
co
m
p
u
te
in
r
ea
lit
y
a
n
d
m
a
y
n
o
t
b
e
r
elev
an
ce
to
all
p
o
s
s
ib
le
s
u
r
r
o
u
n
d
i
n
g
s
.
T
h
er
ef
o
r
e,
th
ese
ch
alle
n
g
e
s
m
u
s
t
b
e
o
v
er
co
m
e
b
y
d
ev
elo
p
in
g
s
i
m
p
le
an
d
r
o
b
u
s
t
alg
o
r
it
h
m
s
f
o
r
th
e
p
u
r
p
o
s
e
o
f
co
n
tr
o
lli
n
g
a
n
d
co
o
r
d
in
atin
g
th
e
s
e
v
e
r
y
lar
g
e
g
r
o
u
p
s
o
f
r
o
b
o
ts
.
T
h
e
o
v
er
all
s
tr
u
ct
u
r
e
o
f
t
h
is
p
ap
er
ta
k
es
th
e
f
o
r
m
o
f
f
iv
e
s
ec
tio
n
s
d
e
s
cr
ib
ed
as
f
o
llo
w
s
:
Sectio
n
2
o
f
f
er
s
a
b
r
ie
f
o
v
er
v
ie
w
o
f
t
h
e
m
o
b
ile
r
o
b
o
t
n
a
v
ig
a
tio
n
i
s
s
u
e.
Sectio
n
3
is
co
n
ce
r
n
ed
w
it
h
t
h
e
co
n
ci
s
e
m
et
h
o
d
s
u
s
ed
b
y
th
e
n
av
i
g
atio
n
s
y
s
te
m
.
Sectio
n
4
p
r
esen
ts
a
r
ev
i
e
w
o
n
s
i
n
g
le
r
o
b
o
t
co
m
p
ar
e
to
s
w
ar
m
r
o
b
o
ts
n
av
i
g
atio
n
alg
o
r
it
h
m
.
Fi
n
all
y
,
Sectio
n
5
p
r
o
v
id
es a
co
n
cise s
u
m
m
ar
y
o
f
t
h
e
en
tire
f
i
n
d
in
g
s
o
f
th
i
s
s
t
u
d
y
.
2.
M
O
B
I
L
E
RO
B
O
T
NAVI
G
A
T
I
O
N
P
RO
B
L
E
M
S
T
h
e
t
y
p
e
o
f
r
o
b
o
t
in
th
e
s
t
u
d
y
o
f
n
av
i
g
atio
n
ca
n
b
e
d
iv
id
ed
in
to
t
h
r
ee
s
y
s
te
m
s
,
n
a
m
e
l
y
s
i
n
g
le
r
o
b
o
t
s
y
s
te
m
,
m
u
lti
-
r
o
b
o
ts
s
y
s
te
m
,
an
d
s
w
ar
m
r
o
b
o
ts
s
y
s
te
m
.
Ge
n
er
all
y
,
t
h
e
d
if
f
er
en
ce
s
b
et
w
e
en
m
u
lti
-
r
o
b
o
t
an
d
s
w
ar
m
r
o
b
o
ts
r
ely
o
n
t
h
e
f
o
r
m
an
d
task
o
f
a
p
ar
ticu
lar
s
y
s
te
m
.
Mu
lt
i
-
r
o
b
o
t
is
d
esig
n
ated
as
a
s
m
all
n
u
m
b
er
o
f
r
o
b
o
ts
,
w
h
ic
h
h
a
v
e
d
if
f
er
en
t
s
h
ap
es
a
n
d
f
u
n
ctio
n
s
t
h
at
ar
e
a
b
le
to
w
o
r
k
to
g
et
h
er
to
ac
h
iev
e
th
e
s
a
m
e
g
o
al.
O
n
th
e
o
th
er
h
a
n
d
,
s
w
ar
m
r
o
b
o
ts
ar
e
d
escr
ib
ed
as
a
s
u
b
s
tan
tial
a
m
o
u
n
t
o
f
s
i
m
p
le
r
o
b
o
ts
th
at
h
av
e
s
i
m
ilar
s
h
ap
e
an
d
f
u
n
ctio
n
.
Mo
s
t
o
f
th
e
ti
m
e,
th
e
y
w
o
r
k
to
g
eth
er
u
s
in
g
a
lo
ca
l
co
m
m
u
n
icat
io
n
a
n
d
co
o
r
d
in
atio
n
in
o
r
d
er
to
ac
co
m
p
li
s
h
t
h
e
ta
s
k
s
.
I
n
t
h
i
s
c
ase,
a
n
a
v
ig
at
io
n
s
y
s
te
m
b
u
ilt
in
al
l
m
o
b
ile
r
o
b
o
ts
h
as
a
llo
wed
th
e
m
to
ex
p
lo
it
th
e
s
e
n
s
i
n
g
,
p
r
o
ce
s
s
in
g
,
an
d
a
ctu
ati
n
g
ca
p
ab
ilit
ie
s
i
n
m
a
k
i
n
g
a
co
n
tr
o
l
d
ec
is
io
n
.
I
n
th
i
s
s
y
s
te
m
,
it
i
s
r
eq
u
ir
ed
f
o
r
th
e
m
o
b
ile
r
o
b
o
t
t
o
f
in
d
a
r
o
u
te
w
ith
le
s
s
r
is
k
o
f
co
llid
in
g
i
n
o
r
d
er
t
o
tr
av
el
f
r
o
m
a
s
tar
tin
g
p
o
in
t
to
an
o
th
er
u
n
t
il
t
h
e
tar
g
et
d
es
tin
atio
n
is
r
ea
c
h
ed
,
w
h
ic
h
r
e
m
a
i
n
s
s
tatic
i
n
t
h
e
ca
s
e
o
f
s
i
n
g
le
r
o
b
o
t
n
av
ig
atio
n
.
Ho
w
e
v
er
,
t
h
e
o
b
s
tacle
s
i
n
m
u
l
ti
-
r
o
b
o
t a
n
d
s
w
ar
m
r
o
b
o
ts
ar
e
i
m
p
le
m
en
ted
to
b
e
s
ta
tic
a
n
d
d
y
n
a
m
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r
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t
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h
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a
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y
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m
ic
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tacle
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h
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r
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th
e
i
m
p
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m
en
tatio
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o
f
all
s
i
n
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le
r
o
b
o
t,
m
u
lti
-
r
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o
ts
,
an
d
s
w
ar
m
r
o
b
o
ts
s
h
o
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ld
b
e
ca
p
a
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le
o
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m
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i
n
g
in
a
r
ea
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ti
m
e
tr
aj
ec
to
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y
w
it
h
m
a
n
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d
if
f
ic
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ltie
s
ar
is
in
g
f
r
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m
th
e
s
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r
r
o
u
n
d
in
g
to
ar
r
iv
e
at
th
e
s
p
ec
if
ic
tar
g
et.
Ho
w
e
v
er
,
s
e
v
er
al
co
n
s
id
er
atio
n
s
r
elate
d
to
s
ev
er
al
is
s
u
e
s
co
n
ce
r
n
i
n
g
th
e
i
m
p
le
m
e
n
tat
io
n
,
u
n
ce
r
tain
ties
,
i
m
p
r
ec
is
io
n
,
a
n
d
in
co
m
p
lete
i
n
f
o
r
m
atio
n
i
n
r
ea
l
-
w
o
r
ld
u
n
o
r
g
an
ized
s
u
r
r
o
u
n
d
in
g
.
I
n
th
e
n
a
v
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g
atio
n
p
r
o
ce
s
s
,
t
h
e
p
er
ce
p
tio
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an
d
co
g
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tio
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e
t
h
e
cr
u
cial
tas
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s
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ac
q
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k
n
o
w
led
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ab
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Fig
u
r
e
1
.
Nav
ig
a
tio
n
s
y
s
te
m
b
ased
o
n
p
er
ce
p
tio
n
-
ac
tu
a
tio
n
2
.
1
.
M
a
pp
ing
-
ba
s
ed
Na
v
ig
a
t
io
n
T
h
e
n
av
ig
at
io
n
s
y
s
te
m
w
it
h
en
v
ir
o
n
m
e
n
tal
m
ap
p
in
g
is
p
o
s
s
ib
le
to
b
e
d
escr
ib
ed
as
a
c
o
m
b
in
atio
n
o
f
th
r
ee
p
ar
a
m
o
u
n
t
co
m
p
eten
cie
s
as
f
o
llo
w
s
:
m
ap
p
in
g
,
lo
ca
liza
tio
n
,
an
d
p
at
h
p
lan
n
i
n
g
[
3
4
]
-
[
3
8
]
.
E
n
v
ir
o
n
m
e
n
tal
m
ap
p
in
g
is
b
u
ilt
i
n
th
e
m
o
b
il
e
r
o
b
o
t
u
s
in
g
a
m
e
m
o
r
izi
n
g
ap
p
r
o
ac
h
to
allo
w
it
to
f
u
ll
y
m
o
v
e
an
d
ex
p
lo
r
e
th
e
en
v
ir
o
n
m
e
n
t.
I
n
ad
d
itio
n
,
th
e
lo
ca
lizatio
n
p
r
o
c
ess
is
u
s
ed
f
o
r
d
eter
m
i
n
in
g
th
e
p
r
esen
t
s
p
o
t
o
f
th
e
r
o
b
o
t
w
it
h
i
n
th
e
en
v
ir
o
n
m
e
n
tal
m
ap
p
in
g
.
T
h
e
m
ea
n
o
f
d
ec
id
i
n
g
a
p
ar
ticu
l
ar
m
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m
en
t
to
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ch
th
e
g
o
al
u
s
i
n
g
th
e
m
ap
an
d
lo
ca
lizatio
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p
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s
s
i
s
k
n
o
w
n
as
a
p
ath
p
lan
n
i
n
g
p
r
o
ce
s
s
.
A
l
l
co
m
p
eten
c
ies
te
n
d
to
p
r
o
v
id
e
th
e
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t
w
it
h
t
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ab
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r
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o
u
t it
s
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en
t lo
ca
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w
it
h
i
n
it
s
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f
er
en
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e
s
tr
u
ct
u
r
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w
h
ic
h
t
h
en
lead
s
t
o
th
e
p
la
n
n
i
n
g
o
f
a
p
ath
to
r
ea
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h
a
ce
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tai
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g
o
al
l
o
ca
tio
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s
.
O
n
to
p
o
f
t
h
at,
t
h
e
n
av
i
g
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n
m
o
d
els
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ased
o
n
t
h
is
ap
p
r
o
ac
h
m
u
s
t
co
m
p
r
o
m
is
e
b
et
w
ee
n
m
ap
s
a
n
d
esti
m
a
ted
p
o
s
itio
n
o
f
t
h
e
r
o
b
o
t.
I
t is
v
er
y
cr
u
cial
f
o
r
t
h
e
p
r
o
ce
s
s
to
e
n
s
u
r
e
t
h
at
th
e
r
o
b
o
t
is
ab
le
to
co
n
tr
o
l
its
ap
p
r
o
x
i
m
ate
lo
ca
tio
n
g
iv
e
n
a
n
y
s
itu
a
tio
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an
d
s
u
r
r
o
u
n
d
i
n
g
.
Ho
w
e
v
er
,
th
er
e
ar
e
s
o
m
e
d
r
a
w
b
ac
k
s
to
s
u
c
h
ap
p
r
o
ac
h
,
w
h
ich
i
n
cl
u
d
e
th
e
f
ac
t
t
h
at
th
e
ap
p
r
o
ac
h
r
elies
o
n
l
y
o
n
th
e
lo
ca
l
s
en
s
i
n
g
an
d
en
v
ir
o
n
m
e
n
t.
Hen
ce
,
it
is
v
er
y
n
ec
es
s
ar
y
f
o
r
it
t
o
also
b
e
eq
u
ip
p
ed
w
it
h
p
o
w
er
f
u
l
s
en
s
o
r
s
o
r
co
m
b
i
n
atio
n
s
.
F
in
al
l
y
,
t
h
e
al
g
o
r
ith
m
m
u
s
t
e
n
s
u
r
e
t
h
at
t
h
e
u
n
ce
r
tain
t
ies
f
o
r
all
s
e
n
s
o
r
s
ele
m
e
n
t
ar
e
ab
le
to
p
r
o
d
u
ce
im
p
r
ec
is
io
n
an
d
u
n
p
r
ed
ictab
ilit
y
w
h
en
o
p
er
atin
g
[
1
5
]
,
[
3
9
]
.
2
.
2
.
B
eha
v
io
r
-
ba
s
ed
Na
v
ig
a
t
io
n
T
h
er
e
is
a
to
tal
o
f
f
o
u
r
co
m
p
e
ten
cie
s
i
n
b
eh
a
v
io
r
-
b
ase
d
n
av
i
g
atio
n
:
o
b
s
tacle
a
v
o
id
an
ce
,
w
all
f
o
llo
w
in
g
,
co
r
r
id
o
r
f
o
llo
w
in
g
,
an
d
tar
g
et
s
ee
k
in
g
.
B
eh
a
v
i
o
r
in
d
u
ce
d
b
y
n
u
m
er
o
u
s
s
i
m
u
lta
n
eo
u
s
g
o
als
i
s
p
o
s
s
ib
le
to
b
e
s
m
o
o
t
h
l
y
b
len
d
ed
in
to
a
d
y
n
a
m
ic
s
eq
u
e
n
ce
o
f
co
n
tr
o
l
ac
tio
n
.
Mo
r
eo
v
er
,
t
h
e
n
a
v
ig
a
tio
n
s
y
s
te
m
d
esig
n
is
e
x
p
ec
ted
to
ex
p
r
es
s
ac
ce
p
tab
le
b
eh
av
io
r
al
tr
aits
th
at
w
er
e
s
et
as
th
e
p
o
s
s
ib
le
co
n
tr
o
l
ac
tio
n
.
A
p
ar
t
f
r
o
m
t
h
at,
i
t c
a
n
ca
u
s
e
p
o
s
s
ib
l
e
co
n
f
l
ict
i
n
t
h
e
m
o
v
e
m
e
n
t o
f
th
e
m
o
b
ile
r
o
b
o
t,
p
ar
ticu
lar
l
y
w
h
e
n
it
w
o
r
k
s
i
n
a
n
ac
tu
al
u
n
o
r
g
a
n
ized
en
v
ir
o
n
m
en
t.
B
eh
av
io
r
-
b
ased
n
a
v
i
g
atio
n
ca
n
b
e
d
ev
elo
p
ed
b
y
co
m
b
i
n
in
g
t
w
o
p
r
o
ce
s
s
es
s
u
c
h
a
s
e
n
v
ir
o
n
m
e
n
tal
m
ap
p
in
g
an
d
r
o
b
o
t
b
eh
av
io
r
s
.
Sp
ec
if
icall
y
,
t
h
e
m
ap
r
ep
r
es
en
ts
en
v
ir
o
n
m
e
n
tal
s
itu
a
tio
n
,
w
h
ile
th
e
r
o
b
o
t
m
o
v
e
is
u
tili
ze
d
b
y
its
b
eh
a
v
io
r
.
I
n
an
o
t
h
er
s
itu
at
io
n
,
th
e
s
y
s
te
m
s
h
o
u
ld
b
e
ap
p
lie
d
in
t
w
o
co
n
d
itio
n
s
i
f
o
n
l
y
o
n
e
o
f
th
e
t
w
o
p
r
o
ce
s
s
es
i
s
u
s
ed
,
w
h
ic
h
h
i
g
h
l
y
d
ep
en
d
s
o
n
th
e
i
m
p
le
m
e
n
tat
io
n
an
d
in
ter
ac
tio
n
w
it
h
o
th
er
co
n
cu
r
r
en
t
r
o
b
o
t
b
eh
av
io
r
s
.
Ho
w
e
v
er
,
t
w
o
m
aj
o
r
p
r
o
b
lem
s
ar
e
b
o
u
n
d
to
o
cc
u
r
w
h
e
n
th
is
p
ar
ticu
lar
ap
p
r
o
ac
h
i
s
e
m
p
lo
y
ed
:
(
i)
th
e
co
m
b
i
n
atio
n
o
f
t
w
o
s
i
m
p
le
b
e
h
av
io
r
s
in
f
o
r
m
in
g
a
co
m
p
lex
o
n
e,
an
d
(
ii)
th
e
in
te
g
r
atio
n
o
f
m
o
r
e
th
an
t
w
o
b
eh
a
v
io
r
s
.
2
.
3
.
L
ea
rning
-
ba
s
ed
Na
v
ig
a
t
io
n
T
h
e
co
n
v
en
t
io
n
al
m
et
h
o
d
s
m
a
k
e
it
n
ec
es
s
ar
y
f
o
r
th
e
r
o
b
o
t
to
b
e
d
esig
n
ed
i
n
a
p
o
w
er
f
u
l
m
a
n
n
er
w
i
th
th
e
i
n
cl
u
s
io
n
o
f
s
e
v
er
al
s
e
n
s
o
r
s
,
ac
tu
ato
r
s
,
a
n
d
co
n
tr
o
ller
w
i
t
h
o
u
t
h
a
v
i
n
g
to
co
n
s
id
er
t
h
e
tr
o
u
b
les
t
h
at
m
a
y
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
6
,
Dec
em
b
er
2
0
1
7
:
3
711
–
3
726
3714
ca
u
s
ed
b
y
th
e
s
u
r
r
o
u
n
d
in
g
.
Hen
ce
,
s
ev
er
al
m
eth
o
d
s
ca
n
b
e
ad
o
p
ted
b
y
th
e
n
av
ig
atio
n
s
y
s
te
m
in
o
v
er
co
m
i
n
g
th
ese
c
h
allen
g
e
s
an
d
is
s
u
es.
P
r
ev
io
u
s
l
y
p
u
b
li
s
h
ed
s
t
u
d
ies
h
a
v
e
p
r
o
p
o
s
ed
ar
tif
icial
in
tel
lig
e
n
t
m
et
h
o
d
s
to
s
o
lv
e
n
av
i
g
atio
n
p
r
o
b
le
m
,
w
h
ic
h
i
s
r
elate
d
to
th
e
p
r
o
ce
s
s
co
n
d
u
cted
b
ased
o
n
lear
n
in
g
ab
ili
t
y
.
Ho
w
e
v
er
,
s
e
v
er
al
k
e
y
co
n
ce
r
n
s
m
u
s
t
b
e
ta
k
e
n
i
n
to
ac
co
u
n
t
i
n
o
r
d
er
to
in
cl
u
d
e
ar
tif
icial
i
n
telli
g
e
n
t
i
n
m
o
b
il
e
r
o
b
o
t
n
av
i
g
atio
n
,
w
h
ic
h
is
in
co
m
p
lete
p
r
o
b
lem
s
,
i
m
p
r
ec
is
io
n
,
i
n
ac
cu
r
ate,
an
d
u
n
ce
r
tain
t
y
co
n
d
itio
n
w
h
e
n
th
e
y
i
n
ter
ac
t
w
it
h
p
o
s
s
ib
le
s
u
r
r
o
u
n
d
i
n
g
s
.
T
h
is
p
ar
ticu
lar
s
y
s
te
m
is
o
n
l
y
co
m
p
atib
le
w
it
h
s
in
g
le
r
o
b
o
t
b
eh
a
v
io
r
s
an
d
m
u
lti
r
o
b
o
t
b
eh
av
io
r
s
.
Ho
w
ev
er
,
a
ce
r
tain
s
itu
atio
n
s
u
ch
as
co
m
p
le
x
en
v
ir
o
n
m
en
t
m
a
k
es
it
v
er
y
d
if
f
i
cu
lt
f
o
r
a
r
o
b
o
t
to
m
an
a
g
e
all
tas
k
s
,
th
u
s
p
r
o
d
u
cin
g
m
o
r
e
er
r
o
r
s
in
a
co
n
tr
o
l
p
r
o
ce
s
s
.
Mo
r
eo
v
er
,
i
f
s
o
m
e
co
m
p
o
n
e
n
t
s
i
n
th
e
s
y
s
te
m
a
n
d
th
e
f
u
n
ct
io
n
o
f
th
e
r
o
b
o
t
f
ailed
to
p
er
f
o
r
m
w
ell
;
h
en
ce
,
it
s
h
o
w
s
th
at
t
h
e
f
a
u
lt
to
ler
an
ce
ch
ar
ac
ter
is
tic
is
n
o
t
s
u
p
p
o
r
ted
in
lar
g
e
-
s
ca
le
en
v
ir
o
n
m
e
n
t.
T
h
er
ef
o
r
e,
co
n
s
id
er
ab
l
y
m
o
r
e
r
esear
ch
o
f
in
telli
g
e
n
ce
n
av
ig
atio
n
o
n
m
o
b
ile
r
o
b
o
t
w
ill
n
ee
d
to
b
e
d
o
n
e
i
n
d
is
co
v
er
in
g
n
e
w
m
et
h
o
d
s
th
at
ca
n
h
elp
to
o
v
er
co
m
e
th
e
e
x
is
t
in
g
ch
a
llen
g
es.
2
.
4
.
Co
mm
un
ica
t
io
n
-
ba
s
ed
Na
v
ig
a
t
io
n
A
r
o
b
o
tic
s
y
s
te
m
b
ased
co
m
m
u
n
icat
io
n
i
s
a
n
e
w
p
la
tf
o
r
m
in
th
e
ar
ea
o
f
i
n
tel
lig
e
n
ce
n
a
v
ig
a
tio
n
o
n
th
e
m
o
b
ile
r
o
b
o
t.
I
n
th
e
ca
s
e
o
f
n
a
v
i
g
atio
n
,
t
h
e
p
r
o
ce
s
s
is
ass
o
ciate
d
w
ith
t
h
e
ar
r
an
g
e
m
e
n
t
o
f
h
u
g
e
a
m
o
u
n
t
o
f
p
lain
p
h
y
s
ical
r
o
b
o
ts
,
w
h
ich
is
co
n
d
u
cted
t
h
r
o
u
g
h
lo
ca
l
c
o
m
m
u
n
icatio
n
m
o
d
i
f
icatio
n
a
n
d
s
e
n
s
i
n
g
.
I
n
th
e
w
o
r
ld
o
f
r
o
b
o
tic
s
y
s
te
m
,
th
e
y
ar
e
p
ar
ticu
lar
ly
k
n
o
w
n
a
s
s
w
a
r
m
r
o
b
o
ts
.
T
h
eir
o
p
er
atio
n
r
e
q
u
ir
es
a
n
u
m
b
er
o
f
m
et
h
o
d
s
w
ith
s
o
m
e
c
h
ar
ac
ter
is
tic,
w
h
ich
i
n
cl
u
d
e
s
i
m
p
le
a
u
to
n
o
m
o
u
s
p
lat
f
o
r
m
,
d
ec
en
tr
alize
d
co
n
tr
o
l,
an
d
s
ev
er
al
w
o
r
k
s
o
n
s
o
m
e
s
e
n
s
e
o
f
b
io
lo
g
ical
in
s
p
ir
atio
n
,
an
d
th
e
i
m
p
o
r
tan
ce
o
f
co
o
p
er
atio
n
an
d
co
o
r
d
in
atio
n
[
3
0
]
,
[
3
3
]
,
[
4
0
]
-
[
4
2
]
.
Mo
r
e
s
p
ec
if
icall
y
,
s
w
ar
m
r
o
b
o
ts
ar
e
u
n
iq
u
e
b
ec
au
s
e
th
e
y
co
m
m
u
n
i
ca
te
w
it
h
ea
ch
o
th
er
in
s
tead
o
f
r
el
y
in
g
o
n
t
h
e
u
s
e
o
f
m
ap
s
[
4
3
]
,
m
ap
-
b
u
ild
in
g
s
tr
ateg
ie
s
[
3
6
]
,
an
d
ex
ter
n
al
i
n
f
r
a
s
tr
u
ct
u
r
e
[
4
4
]
.
Ho
w
e
v
er
,
t
h
e
p
r
o
b
le
m
s
r
eg
ar
d
in
g
th
e
co
n
f
lict
in
g
co
n
s
tr
ai
n
ts
o
f
s
w
ar
m
r
o
b
o
ts
ar
e
v
er
y
h
ar
d
to
o
v
er
co
m
e,
p
ar
ticu
lar
l
y
co
n
ce
r
n
in
g
th
e
s
it
u
atio
n
w
h
er
eb
y
a
d
y
n
a
m
ic
s
u
r
r
o
u
n
d
in
g
r
eq
u
ir
es
an
o
p
ti
m
al
p
ath
to
b
e
r
o
u
ted
in
ac
tu
al
-
ti
m
e
an
d
w
h
e
n
a
n
e
w
r
estrictio
n
o
cc
u
r
s
.
A
p
ar
t
f
r
o
m
t
h
at,
th
is
p
r
o
b
le
m
ar
is
es
d
u
e
to
th
e
n
ee
d
o
f
s
w
ar
m
r
o
b
o
ts
to
m
an
e
u
v
er
to
w
ar
d
s
th
eir
tar
g
et
lo
ca
tio
n
w
h
i
le
also
tr
y
in
g
to
co
m
p
l
y
a
n
d
ad
j
u
s
t
to
th
eir
p
ath
s
in
co
n
s
id
er
in
g
f
o
r
an
y
p
o
s
s
ib
le
i
n
cid
en
ce
w
i
th
o
t
h
er
r
o
b
o
ts
an
d
s
tatic
o
b
s
tacle
s
.
Mo
r
eo
v
er
,
t
h
e
p
r
esen
ce
o
f
m
an
y
r
o
b
o
ts
an
d
r
ea
l
-
ti
m
e
co
n
s
tr
ai
n
ts
h
as
ca
u
s
ed
th
e
r
o
b
o
ts
to
co
m
p
u
te
t
h
eir
m
o
tio
n
s
in
d
e
p
en
d
en
tl
y
an
d
i
n
a
d
ec
en
tr
alize
d
m
a
n
n
er
.
I
n
t
h
i
s
ca
s
e,
t
h
o
s
e
a
n
i
m
als
t
h
at
p
o
s
s
ess
b
eh
a
v
io
r
al
p
r
o
g
r
a
m
ar
e
f
o
u
n
d
to
b
e
f
le
x
ib
le
en
o
u
g
h
to
ad
ap
t
to
t
h
e
en
co
u
n
ter
ed
en
v
ir
o
n
m
e
n
tal
c
h
a
n
g
e
s
s
u
c
h
a
s
i
n
s
ec
t
co
lo
n
ie
s
[
4
5
]
,
[
4
6
]
,
f
lo
ck
s
o
f
b
ir
d
s
[4
5
]
,
[4
7
]
,
s
ch
o
o
l
o
f
f
is
h
[
4
5
]
,
[4
8
]
,
an
d
g
r
o
u
p
s
o
f
am
o
eb
a
[
4
9
]
.
T
h
e
alg
o
r
ith
m
t
h
at
i
s
b
u
ilt
b
ased
o
n
th
e
s
i
m
p
le
b
eh
av
io
r
al
r
u
le
i
s
f
o
r
t
w
o
p
u
r
p
o
s
es:
(
i)
ab
ilit
y
to
m
i
n
i
m
i
ze
th
e
n
ee
d
f
o
r
co
m
p
le
x
it
y
i
n
th
e
i
n
f
o
r
m
atio
n
-
p
r
o
ce
s
s
in
g
s
y
s
te
m
,
an
d
(
ii)
ab
ilit
y
to
allo
w
th
e
p
r
o
d
u
ctio
n
o
f
b
eh
av
io
r
to
o
p
ti
m
ize
en
er
g
etic
ex
p
en
d
itu
r
e
s
.
T
h
e
en
tire
n
atu
r
e
o
f
th
e
s
y
s
te
m
is
ca
u
s
ed
b
y
in
d
i
v
id
u
al
in
ter
ac
tio
n
w
it
h
o
n
e
an
o
t
h
e
r
.
Natu
r
al
s
elec
tio
n
te
n
d
s
to
f
a
v
o
r
o
p
ti
m
i
za
tio
n
p
r
in
cip
les
t
h
at
u
tili
ze
s
i
m
p
le
r
u
le
s
as
w
ell
a
s
in
h
er
en
t
f
le
x
ib
ilit
y
w
it
h
o
u
t
th
e
n
ee
d
to
ex
p
licitl
y
s
elec
t
c
er
tain
f
ea
tu
r
e
s
.
T
h
er
ef
o
r
e,
th
e
n
av
ig
at
io
n
o
u
tp
u
t
w
i
ll
b
e
r
o
b
u
s
t,
t
h
u
s
m
a
k
i
n
g
it
p
o
s
s
ib
le
to
d
ea
l
w
it
h
er
r
o
n
e
o
u
s
cir
cu
m
s
tan
ce
s
,
w
h
ich
in
c
lu
d
e
s
e
n
s
o
r
s
a
n
d
ac
tu
ato
r
s
n
o
is
e
as
w
ell
a
s
th
e
ab
ilit
y
o
f
f
a
u
lt
to
ler
a
n
ce
ch
ar
a
cter
is
tic.
Ho
w
ev
er
,
t
h
e
o
p
ti
m
i
za
tio
n
t
h
at
is
b
a
s
ed
o
n
t
h
e
n
at
u
r
e
o
f
a
n
i
m
al
s
o
cial
a
p
p
r
o
ac
h
p
o
s
s
ess
a
f
e
w
d
is
ad
v
an
ta
g
e
s
s
u
c
h
a
s
:
(
i)
i
n
ab
ilit
y
to
co
n
tr
o
l
t
h
e
r
o
b
o
ts
m
o
tio
n
,
(
ii)
o
n
l
y
ab
le
to
b
e
o
p
tim
a
l
lo
ca
ll
y
,
(
iii)
p
r
o
d
u
ce
s
lo
p
p
y
g
lo
b
al
m
o
v
e
m
en
t
s
w
h
en
m
o
r
e
th
an
o
n
e
r
o
b
o
t
m
a
n
e
u
v
er
in
a
co
m
p
lex
en
v
ir
o
n
m
e
n
t,
a
n
d
(
iv
)
th
e
p
o
s
s
ib
ilit
y
o
f
th
e
r
o
b
o
ts
to
b
e
a
tr
ap
in
a
lo
ca
l
m
in
i
m
u
m
[
50]
-
[
5
2
]
.
T
h
er
ef
o
r
e,
th
er
e
is
an
u
r
g
e
n
t
n
ee
d
to
ad
d
r
ess
th
e
ex
is
ti
n
g
ch
alle
n
g
es
th
a
t
ar
e
im
p
o
r
tan
t
to
th
e
d
esig
n
r
eq
u
ir
em
e
n
t
w
h
ich
in
cl
u
d
e
ac
tu
al
-
ti
m
e,
u
n
o
r
g
a
n
ized
,
an
d
d
y
n
a
m
ic
s
u
r
r
o
u
n
d
in
g
as
w
ell
as
t
h
e
p
r
o
b
le
m
s
o
f
i
m
p
r
ec
is
io
n
,
in
co
m
p
lete,
a
n
d
u
n
ce
r
tai
n
t
y
i
n
a
s
in
g
le
r
o
b
o
t
an
d
s
w
ar
m
r
o
b
o
ts
n
av
i
g
atio
n
s
y
s
te
m
.
O
n
to
p
o
f
th
at,
f
ailed
co
m
m
u
n
icatio
n
an
d
i
m
p
er
f
ec
t
alg
o
r
it
h
m
ar
e
tr
ea
ted
as
p
ar
ticu
lar
co
n
ce
r
n
s
d
u
r
i
n
g
th
e
d
ev
elo
p
m
e
n
t
o
f
t
h
e
n
av
i
g
atio
n
s
y
s
te
m
.
Fi
n
all
y
,
t
h
e
p
e
r
f
o
r
m
a
n
ce
o
f
t
h
e
en
tire
r
o
b
o
tic
n
av
i
g
atio
n
s
y
s
te
m
s
ca
n
eith
er
b
e
i
m
p
r
o
v
ed
o
r
at
least n
o
t d
eg
r
ad
ed
if
all
th
e
p
ar
a
m
eter
s
h
av
e
b
ee
n
a
n
al
y
ze
d
.
3.
M
E
T
H
O
DS O
F
NAVIG
A
T
I
O
N
SYST
E
M
I
n
th
is
s
ec
tio
n
,
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
s
ar
e
r
ev
ie
w
ed
in
d
ep
th
f
o
r
th
e
p
u
r
p
o
s
e
o
f
p
r
o
v
id
in
g
a
n
u
m
b
er
o
f
v
ital
i
n
f
o
r
m
atio
n
to
th
e
s
t
u
d
y
o
f
s
in
g
le
r
o
b
o
t
b
ein
g
tr
an
s
f
o
r
m
ed
to
s
w
ar
m
r
o
b
o
ts
.
T
h
e
co
m
p
ar
ati
v
e
an
al
y
s
is
o
f
th
e
t
h
r
ee
m
e
th
o
d
s
,
n
a
m
el
y
co
n
v
e
n
tio
n
al
ar
tific
ial
i
n
tel
lig
e
n
t,
s
o
f
t
co
m
p
u
ti
n
g
,
an
d
s
w
ar
m
i
n
telli
g
e
n
ce
w
h
ic
h
ar
e
r
elate
d
to
m
o
b
i
le
r
o
b
o
t
n
av
i
g
atio
n
s
y
s
te
m
is
p
r
esen
ted
in
Fi
g
u
r
e
2
.
I
n
ad
d
itio
n
,
all
t
h
e
d
ef
in
i
tio
n
s
an
d
p
r
o
ce
s
s
r
elate
d
to
th
is
r
esear
ch
w
ill
b
e
f
u
r
th
er
d
escr
ib
ed
in
th
is
s
ec
tio
n
,
in
cl
u
d
in
g
a
co
m
p
r
e
h
en
s
iv
e
d
is
cu
s
s
io
n
o
f
th
e
f
i
n
d
in
g
s
o
f
t
h
is
s
tu
d
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
I
n
tellig
en
t R
o
b
o
tics
N
a
vig
a
tio
n
S
ystem:
P
r
o
b
lems,
Meth
o
d
s
,
a
n
d
A
l
g
o
r
ith
m
(
S
iti N
u
r
ma
in
i
)
3715
3
.
1
.
Co
nv
ent
io
na
l
Art
if
icia
l In
t
ellig
ence
T
h
e
m
o
s
t
p
r
i
m
iti
v
e
n
av
ig
atio
n
s
tr
ateg
y
w
as
d
e
v
elo
p
ed
to
p
r
o
d
u
ce
r
o
b
o
ts
th
at
ar
e
ab
le
to
a
cc
o
m
p
li
s
h
s
ev
er
al
tas
k
s
as
s
ig
n
ed
to
th
e
m
[
5
3
]
-
[
5
5
]
.
Ho
w
e
v
er
,
th
e
ad
ap
tiv
e
tech
n
iq
u
e
m
u
s
t
b
e
co
m
b
i
n
ed
w
it
h
p
ar
ticu
lar
s
tr
ateg
y
.
Mo
r
eo
v
er
,
t
h
e
n
a
v
ig
atio
n
o
n
l
y
s
ee
m
s
to
w
o
r
k
o
n
lo
ca
l
en
v
ir
o
n
m
en
t;
t
h
er
ef
o
r
e,
th
e
r
o
b
o
t
w
ill
h
a
v
e
d
if
f
ic
u
lt
ies
to
r
ec
o
g
n
ize
an
d
c
o
n
tr
o
l its
m
o
tio
n
i
f
t
h
e
s
u
r
r
o
u
n
d
in
g
i
s
al
w
a
y
s
c
h
an
g
i
n
g
w
h
i
ch
w
i
ll c
o
n
s
eq
u
e
n
tl
y
af
f
ec
t
th
e
ac
co
m
p
lis
h
m
en
t
o
f
th
e
m
is
s
io
n
.
I
n
ad
d
itio
n
,
a
h
u
g
e
a
m
o
u
n
t
o
f
co
n
v
e
n
tio
n
a
l
ar
tif
icial
in
tel
lig
e
n
ce
(
A
I
)
ap
p
r
o
ac
h
es
ar
e
n
ec
es
s
ar
y
to
o
v
er
co
m
e
t
h
e
e
x
i
s
ti
n
g
l
i
m
itat
io
n
w
h
ic
h
i
n
cl
u
d
e
ar
ti
f
i
cial
p
o
ten
tial
f
ield
m
et
h
o
d
s
[
5
6
]
,
v
ir
tu
al
tar
g
et
ap
p
r
o
ac
h
[
5
7
]
,
lan
d
m
ar
k
le
ar
n
in
g
[
5
8
]
,
tan
g
en
t
g
r
ap
h
[
5
9
]
,
p
ath
v
elo
cit
y
d
ec
o
m
p
o
s
itio
n
m
e
th
o
d
[
6
0
]
,
ac
ce
s
s
ib
ilit
y
g
r
ap
h
[
6
1
]
,
s
p
ac
e
–
ti
m
e
co
n
ce
p
t
[
6
2
]
,
in
cr
e
m
e
n
tal
p
lan
n
i
n
g
[
6
3
]
,
r
elativ
e
v
elo
cit
y
ap
p
r
o
ac
h
[
6
4
]
,
r
ea
ctiv
e
co
n
tr
o
l
s
ch
e
m
e
[
1
7
]
,
cu
r
v
atu
r
e
-
v
elo
cit
y
m
e
th
o
d
[
6
5
]
,
d
y
n
a
m
ic
w
i
n
d
o
w
ap
p
r
o
ac
h
[
9
]
,
an
d
Sim
u
ltan
eo
u
s
L
o
ca
lizatio
n
an
d
Ma
p
p
in
g
(
S
L
A
M)
.
Un
f
o
r
tu
n
atel
y
,
th
e
m
e
n
tio
n
e
d
co
n
v
e
n
tio
n
al
A
I
ap
p
r
o
ac
h
es
s
ee
m
to
u
n
d
er
g
o
t
h
e
f
o
llo
w
in
g
d
is
ad
v
an
ta
g
es
: (
i)
lo
ca
l c
o
n
tr
o
ller
[
6
6
]
,
(
ii)
h
ig
h
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
th
a
t a
r
e
ca
u
s
ed
b
y
a
lar
g
e
n
u
m
b
er
o
f
s
tate
[
6
7
]
,
[
6
8
]
,
(
iii)
a
b
s
en
ce
o
f
o
p
tim
izat
io
n
m
o
d
u
le
[
6
9
]
,
(
iv
)
r
eg
u
lar
d
ea
d
-
lo
ck
s
itu
atio
n
d
u
e
to
lo
ca
l
m
i
n
i
m
u
m
[
7
0
]
,
(
v
)
ab
s
en
ce
o
f
p
ass
a
g
e
b
et
w
ee
n
clo
s
el
y
s
p
ac
ed
o
b
s
tacle
s
w
h
ich
r
es
u
lt
s
i
n
o
s
cillatio
n
s
[
5
6
]
.
T
h
er
ef
o
r
e,
it
is
h
i
g
h
l
y
r
ec
o
m
m
en
d
ed
f
o
r
t
h
e
co
n
tr
o
l
s
tr
ateg
y
to
b
e
d
ev
elo
p
ed
i
n
o
r
d
er
to
p
r
o
d
u
ce
an
ac
ce
p
tab
le
s
o
lu
tio
n
to
m
o
b
ile
r
o
b
o
t n
av
ig
atio
n
p
r
o
b
lem
s
.
Fig
u
r
e
2
.
I
n
tellig
e
n
t r
o
b
o
tics
n
av
ig
a
tio
n
s
y
s
te
m
al
g
o
r
it
h
m
s
3
.
2
.
So
f
t
Co
m
pu
t
i
ng
T
h
e
p
u
r
p
o
s
e
o
f
So
f
t
C
o
m
p
u
ti
n
g
(
SC
)
m
et
h
o
d
s
i
s
to
ac
h
ie
v
e
a
r
o
b
u
s
t
a
n
d
lo
w
-
co
s
t
s
o
lu
t
i
o
n
.
Hen
ce
,
th
is
m
eth
o
d
h
as
p
r
o
p
o
s
ed
a
m
eth
o
d
o
lo
g
y
th
at
u
tili
ze
s
a
n
u
m
b
er
o
f
k
n
o
w
led
g
e
in
r
ef
er
e
n
ce
to
th
e
r
e
m
ar
k
ab
le
ab
ilit
y
o
f
t
h
e
h
u
m
an
m
i
n
d
to
r
ea
s
o
n
an
d
lear
n
[
7
1
]
.
On
to
p
o
f
th
at,
it
al
s
o
p
r
o
v
id
es
an
alt
er
n
ativ
e
s
o
lu
tio
n
to
clar
if
y
s
o
m
e
o
f
t
h
e
af
o
r
e
m
e
n
tio
n
ed
n
a
v
i
g
atio
n
p
r
o
b
le
m
s
.
T
h
is
p
ar
ticu
lar
m
e
th
o
d
is
d
if
f
er
e
n
t
f
r
o
m
t
h
e
co
n
v
e
n
tio
n
al
A
I
m
et
h
o
d
s
b
ec
au
s
e
it
d
o
es
n
o
t
p
r
o
d
u
c
e
i
m
p
r
ec
is
io
n
,
u
n
ce
r
tain
t
y
,
p
ar
tial
tr
u
th
,
an
d
ap
p
r
o
x
im
a
tio
n
.
T
h
is
tech
n
iq
u
e
h
as
b
ee
n
ex
ten
s
i
v
el
y
u
tili
ze
d
in
th
e
d
esi
g
n
o
f
m
o
b
ile
r
o
b
o
t a
p
p
li
ca
tio
n
an
d
h
as
r
esu
lted
i
n
g
o
o
d
p
er
f
o
r
m
a
n
ce
[
7
2
]
-
[
7
5
]
.
T
h
e
ab
ilit
y
to
d
ea
l
w
ith
u
n
o
r
g
a
n
ized
an
d
u
n
f
a
m
iliar
en
v
ir
o
n
m
en
ts
h
as
m
ad
e
th
is
a
s
u
i
tab
le
tech
n
iq
u
e
to
ad
d
r
ess
r
o
b
o
tic
co
n
t
r
o
l
is
s
u
e
s
as
w
e
ll
as
n
a
v
ig
at
i
o
n
p
r
o
b
lem
.
T
h
ese
tech
n
iq
u
es a
r
e
b
elie
v
ed
to
b
r
in
g
ef
f
ec
ti
v
e
m
et
h
o
d
s
an
d
i
m
p
r
o
v
e
th
e
i
n
tel
lig
e
n
ce
i
n
m
o
b
ile
r
o
b
o
t n
av
ig
at
io
n
.
A
f
e
w
t
y
p
e
o
f
th
e
s
o
f
t c
o
m
p
u
ti
n
g
tech
n
iq
u
e
s
i
n
clu
d
e
f
u
zz
y
lo
g
ic
s
y
s
te
m
,
n
eu
r
al
n
et
w
o
r
k
,
a
n
d
g
en
etic
al
g
o
r
it
h
m
.
T
h
e
f
u
zz
y
lo
g
ic
s
y
s
te
m
i
s
an
ex
ce
lle
n
t
s
o
l
u
tio
n
f
o
r
m
o
b
il
e
r
o
b
o
t
n
av
ig
atio
n
d
u
e
to
t
h
e
s
y
s
te
m
s
’
in
h
er
e
n
t
i
m
p
r
ec
is
io
n
,
e
s
p
ec
iall
y
t
y
p
e
-
1
f
u
zz
y
lo
g
ic
s
y
s
te
m
(
T
1
FL
S).
Ho
w
e
v
er
,
T
1
FL
S
i
s
in
ca
p
ab
le
o
f
f
u
l
l
y
h
an
d
li
n
g
th
e
u
n
ce
r
tain
t
ies [
7
6
]
as a
r
esu
lt o
f
th
e
r
estric
ted
m
o
d
elin
g
o
f
T
1
FL
S
m
e
m
b
er
s
h
i
p
f
u
n
ctio
n
s
(
Mf
s
)
in
m
i
n
i
m
izi
n
g
t
h
e
ef
f
ec
t
o
f
u
n
ce
r
tain
t
y
.
Me
a
n
w
h
ile,
th
e
u
n
ce
r
tain
t
y
v
al
u
e
w
ill
d
is
ap
ea
r
w
h
e
n
MFs
ca
n
at
leas
t
b
e
g
i
v
en
p
ar
tiall
y
[
7
7
]
.
I
n
t
h
is
ca
s
e,
t
h
e
er
r
o
r
w
ill
s
till
o
cc
u
r
an
d
a
s
m
a
ll e
r
r
o
r
is
s
til
l
s
ig
n
i
f
i
ca
n
t b
ec
a
u
s
e
it
h
as
th
e
ab
ili
t
y
to
n
eg
ati
v
el
y
a
f
f
ec
t
th
e
n
a
v
i
g
atio
n
p
er
f
o
r
m
a
n
ce
[
7
8
]
.
R
ec
en
tl
y
,
a
n
e
w
k
i
n
d
o
f
f
u
zz
y
lo
g
ic
k
n
o
w
n
t
y
p
e
-
2
f
u
zz
y
lo
g
ic
s
y
s
te
m
(
T
2
FLS)
h
as
b
ee
n
e
s
tab
lis
h
ed
as
t
h
e
i
m
p
r
o
v
ed
v
er
s
io
n
o
f
T
1
FLS
an
d
p
r
o
v
en
to
b
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
6
,
Dec
em
b
er
2
0
1
7
:
3
711
–
3
726
3716
s
u
cc
e
s
s
f
u
l
in
m
o
b
ile
r
o
b
o
t
n
av
ig
a
tio
n
[
7
9
]
-
[
8
1
]
.
I
n
p
ar
ticu
lar
,
T
2
FL
S
ar
e
ex
tr
em
e
l
y
b
en
e
f
icial
i
n
a
s
itu
atio
n
w
h
er
eb
y
it
i
s
d
if
f
ic
u
lt
to
co
n
clu
d
e
t
h
e
ac
t
u
al
m
ea
s
u
r
e
m
e
n
t
[
7
7
]
.
Mo
r
eo
v
er
,
T
2
FL
S
a
r
e
co
m
p
u
tatio
n
al
l
y
in
te
n
s
i
v
e
a
n
d
h
ar
d
to
b
e
b
u
ilt
f
o
r
ac
t
u
al
-
ti
m
e
ap
p
licatio
n
,
e
s
p
ec
iall
y
f
o
r
m
o
b
ile
r
o
b
o
t
n
a
v
ig
a
tio
n
[
8
2
]
,
[
8
3
]
.
Me
an
w
h
ile,
i
n
ter
v
al
t
y
p
e
-
2
f
u
zz
y
lo
g
ic
s
y
s
te
m
(
I
T
2
FL
S)
is
p
r
o
p
o
s
ed
to
s
i
m
p
lify
t
h
e
co
m
p
u
tat
io
n
.
I
T
2
FL
S
p
o
s
s
ess
th
e
p
o
s
s
ib
ilit
y
to
s
o
l
v
e
th
e
r
estrictio
n
s
o
f
T
1
FL
S
as
w
ell
a
s
to
p
r
o
d
u
ce
a
n
e
w
g
en
er
atio
n
o
f
th
e
f
u
zz
y
s
y
s
te
m
w
it
h
i
m
p
r
o
v
ed
p
er
f
o
r
m
a
n
ce
o
f
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
[
8
4
]
,
[
8
5
]
.
Ho
w
e
v
e
r
,
I
T
2
FL
S
is
s
til
l
co
m
p
u
tatio
n
all
y
in
h
i
g
h
d
e
m
a
n
d
co
m
p
ar
ed
to
T
1
FL
S [
8
6
]
.
An
o
th
er
ca
s
e
o
f
n
a
v
i
g
atio
n
r
esear
ch
r
ev
ea
l
s
a
s
u
r
r
o
u
n
d
i
n
g
th
at
is
i
m
p
r
ec
is
e,
v
ast,
d
y
n
a
m
ical,
a
n
d
u
n
s
tr
u
ct
u
r
ed
.
Hen
ce
,
it
is
v
er
y
i
m
p
o
r
tan
t
f
o
r
a
m
o
b
ile
r
o
b
o
t
to
b
e
ab
le
t
o
u
n
d
er
s
tan
d
a
p
ar
ticu
lar
s
u
r
r
o
u
n
d
i
n
g
in
o
r
d
er
to
r
ea
ch
t
h
e
tar
g
e
t
w
ith
o
u
t
co
lli
s
io
n
s
[
1
0
]
.
Mo
r
eo
v
er
,
d
ata
p
r
o
ce
s
s
in
g
,
r
ec
o
g
n
itio
n
,
lear
n
in
g
,
r
ea
s
o
n
in
g
,
in
ter
p
r
eti
n
g
,
d
ec
is
i
o
n
-
m
a
k
in
g
,
an
d
ac
tio
n
ca
p
ac
it
ies
m
u
s
t
b
e
en
d
o
w
ed
w
it
h
p
er
ce
p
tio
n
.
I
n
o
r
d
er
t
o
b
u
ild
an
ad
ap
tab
le
n
a
v
i
g
atio
n
s
y
s
te
m
in
a
m
o
b
ile
r
o
b
o
t,
n
eu
r
al
n
et
w
o
r
k
s
(
NNs)
p
o
s
s
e
s
s
t
h
e
ab
ilit
y
to
o
b
s
er
v
e
th
e
s
it
u
atio
n
s
an
d
e
m
u
la
te
th
e
r
em
ar
k
ab
le
p
er
ce
p
tio
n
an
d
p
atter
n
r
ec
o
g
n
it
io
n
f
o
r
ea
ch
e
n
v
ir
o
n
m
en
t.
Fo
r
th
e
p
ast
f
e
w
y
ea
r
s
,
p
r
ev
io
u
s
l
y
p
u
b
lis
h
ed
s
t
u
d
ies
h
a
v
e
r
ep
o
r
ted
an
is
s
u
e
in
r
e
f
er
en
ce
to
NNs
as
w
ell
a
s
its
ap
p
licatio
n
in
o
r
d
er
to
b
etter
ass
is
t
t
h
e
m
o
b
ile
r
o
b
o
t
to
p
r
o
d
u
ce
an
ad
v
a
n
ce
d
d
ev
elo
p
m
e
n
t
o
f
th
eir
o
p
er
atio
n
al
ca
p
ab
ilit
ies
i
n
a
n
u
n
f
a
m
il
iar
s
u
r
r
o
u
n
d
i
n
g
[
8
7
]
-
[
8
9
]
.
T
h
e
p
r
o
ce
s
s
o
f
f
a
u
lt
y
o
r
n
o
i
s
y
d
ata
b
y
t
h
e
NNs
is
m
o
r
e
v
alu
ab
le
co
m
p
ar
ed
to
th
e
clas
s
ical
A
I
tech
n
iq
u
es
b
ec
a
u
s
e
N
Ns
ar
e
k
n
o
w
n
to
b
e
h
ig
h
l
y
to
l
er
an
t
to
n
o
is
es
[
9
0
]
.
On
to
p
o
f
th
at,
n
u
m
er
o
u
s
s
t
u
d
ies
h
a
v
e
s
u
cc
e
s
s
f
u
ll
y
ap
p
lied
t
h
e
NN
s
tec
h
n
iq
u
e
f
o
r
th
e
p
u
r
p
o
s
e
o
f
d
ev
elo
p
in
g
th
e
m
o
d
el
r
e
lated
to
m
o
b
ile
r
o
b
o
t
n
av
ig
atio
n
.
Ho
w
e
v
er
,
th
e
m
aj
o
r
d
is
ad
v
an
ta
g
e
o
f
co
n
v
e
n
tio
n
al
NNs
tech
n
iq
u
e
r
ef
er
s
to
t
h
e
r
ep
ea
ted
p
r
esen
tatio
n
o
f
tr
ai
n
in
g
d
ata
r
eq
u
ir
ed
in
ac
tu
al
-
ti
m
e,
w
h
ic
h
o
f
te
n
r
esu
lts
i
n
a
v
er
y
lo
n
g
lear
n
in
g
ti
m
e.
R
ea
s
o
n
i
n
g
,
d
ec
is
io
n
m
ak
in
g
,
an
d
lear
n
in
g
h
a
v
e
b
ee
n
p
r
o
p
o
s
ed
as
p
ar
t
o
f
t
h
e
S
C
t
ec
h
n
iq
u
es;
h
o
w
ev
er
,
all
r
es
u
lt
s
m
u
s
t
b
e
o
p
tim
ized
in
o
r
d
er
to
ac
h
iev
e
an
ex
ce
l
len
t
p
er
f
o
r
m
a
n
ce
in
n
av
i
g
atio
n
s
y
s
te
m
,
esp
ec
iall
y
i
n
th
e
ef
f
o
r
t
o
f
f
i
g
u
r
i
n
g
o
u
t
th
e
o
p
ti
m
al
v
al
u
e
o
f
th
e
tar
g
et
p
o
s
itio
n
.
I
n
co
m
p
lex
o
p
ti
m
iza
tio
n
p
r
o
b
lem
,
Gen
et
ic
A
lg
o
r
it
h
m
(
GA
)
h
as
b
ee
n
d
eter
m
in
ed
as
o
n
e
o
f
t
h
e
m
o
s
t
s
tr
o
n
g
al
g
o
r
ith
m
s
.
O
n
to
p
o
f
th
at,
GA
i
s
p
r
esen
ted
as
a
n
e
m
er
g
in
g
o
p
ti
m
izatio
n
m
et
h
o
d
an
d
its
f
u
n
d
a
m
e
n
tal
p
r
o
p
er
ties
h
a
v
e
m
ad
e
G
A
a
s
an
attr
ac
tiv
e
c
h
o
ice
f
o
r
f
in
d
i
n
g
a
s
o
lu
tio
n
to
th
e
p
r
o
b
le
m
r
el
ated
to
m
o
b
ile
r
o
b
o
t
n
av
ig
at
i
o
n
[
9
1
]
-
[
9
3
]
.
A
p
ar
t
f
r
o
m
th
a
t,
G
A
ca
n
also
s
o
lv
e
th
e
f
o
llo
w
i
n
g
is
s
u
es
ca
u
s
ed
b
y
t
h
e
tr
ad
itio
n
al
s
ea
r
c
h
tech
n
i
q
u
es
w
h
ic
h
i
n
clu
d
e
th
e
g
r
ad
ien
t
-
b
ased
m
et
h
o
d
s
:
(
1
)
h
ig
h
co
m
p
u
tat
io
n
al
co
s
t,
(
2
)
lar
g
e
m
e
m
o
r
y
s
p
ac
es,
a
n
d
(
3
)
ti
m
e
to
co
n
s
u
m
e
[
9
4
]
.
Ho
w
e
v
er
,
th
e
i
m
p
le
m
en
t
atio
n
o
f
G
A
al
g
o
r
ith
m
in
m
o
b
ile
r
o
b
o
t
n
av
ig
atio
n
f
i
n
d
s
it
d
i
f
f
icu
l
t
to
g
en
er
ate
a
g
lo
b
al
o
p
ti
m
u
m
s
o
l
u
tio
n
as
well
as p
r
o
d
u
ce
s
lo
w
co
n
v
er
g
e
n
ce
[
9
3
]
.
A
ll
i
n
telli
g
e
n
t
s
o
f
t
co
m
p
u
ti
n
g
tech
n
iq
u
e
s
p
o
s
s
es
s
d
if
f
er
e
n
t
ch
ar
ac
ter
is
tic
s
w
h
ic
h
in
cl
u
d
e
th
e
ab
ilit
y
to
lear
n
an
d
ex
p
lain
t
h
e
p
r
o
ce
s
s
o
f
m
ak
in
g
th
e
ap
p
r
o
p
r
iate
d
ec
is
io
n
f
o
r
a
p
ar
ticu
lar
t
y
p
e
o
f
p
r
o
b
lem
an
d
n
o
t
g
en
er
alize
it
f
o
r
o
t
h
er
s
.
I
n
r
eg
ar
d
to
th
is
,
n
e
u
r
al
n
et
w
o
r
k
s
p
o
s
s
ess
a
n
u
m
b
er
o
f
lear
n
in
g
a
b
ilit
y
a
n
d
e
x
ce
lle
n
t
ca
p
ab
ilit
y
o
f
r
ec
o
g
n
izi
n
g
p
atte
r
n
s
.
Ho
w
ev
er
,
n
e
u
r
al
n
et
w
o
r
k
s
ar
e
n
o
t
co
m
p
eten
ce
i
n
clar
i
f
y
in
g
h
o
w
d
ec
i
s
io
n
s
ca
n
b
e
m
ad
e
[
9
5
]
.
On
to
p
o
f
t
h
at,
f
u
zz
y
lo
g
ic
s
y
s
te
m
s
ar
e
v
er
y
g
o
o
d
at
d
eter
m
i
n
in
g
th
e
ir
o
w
n
d
ec
is
io
n
s
a
n
d
ad
d
r
ess
in
g
t
h
e
r
ea
s
o
n
s
f
o
r
in
ac
cu
r
ate
in
f
o
r
m
atio
n
an
d
u
n
c
er
tain
t
y
[
9
6
]
.
Ho
w
e
v
er
,
th
e
y
h
av
e
d
i
f
f
icu
l
ties
to
i
m
m
ed
iatel
y
o
b
tai
n
th
e
r
u
les
th
at
ar
e
s
et
f
o
r
th
e
p
u
r
p
o
s
e
o
f
p
r
o
d
u
cin
g
t
h
e
b
est
d
ec
is
io
n
s
.
E
v
o
l
u
tio
n
ar
y
A
l
g
o
r
ith
m
(
E
A
)
g
e
n
er
ates
a
n
ex
ce
lle
n
t
p
er
f
o
r
m
an
ce
in
t
h
e
o
p
ti
m
iz
atio
n
p
r
o
ce
s
s
w
h
ic
h
h
as
b
ee
n
u
s
ed
i
n
a
g
r
ea
t
v
ar
ie
t
y
o
f
ap
p
licatio
n
s
w
it
h
a
h
ig
h
s
u
cc
e
s
s
r
ate.
T
h
e
alg
o
r
ith
m
i
m
itates
th
e
m
an
n
er
ev
o
l
u
tio
n
ac
ts
,
w
h
ic
h
th
e
n
allo
w
s
t
h
e
p
er
f
o
r
m
an
ce
o
f
co
n
tr
o
ller
s
to
b
e
i
m
p
r
o
v
ed
o
r
b
e
ad
ap
ted
s
to
d
if
f
er
en
t
s
y
s
te
m
s
.
Ho
w
e
v
er
,
G
A
is
as
s
o
ciate
d
w
it
h
r
a
n
d
o
m
n
u
m
b
er
s
th
a
t
ar
e
p
r
o
b
a
b
ilis
tic,
lo
ca
ll
y
o
p
ti
m
u
m
,
a
n
d
w
it
h
s
lo
w
co
n
v
er
g
e
n
ce
[
9
7
]
.
Sev
er
al
c
h
ar
ac
ter
is
tic
s
o
f
s
o
f
t
co
m
p
u
t
in
g
tec
h
n
iq
u
e
i
n
m
o
b
ile
r
o
b
o
t
ap
p
licatio
n
ar
e
d
escr
ib
ed
in
T
ab
le
1
.
Ho
w
e
v
e
r
,
th
er
e
ar
e
a
n
u
m
b
er
o
f
r
estri
cti
o
n
s
r
elate
d
to
s
o
f
t
co
m
p
u
t
in
g
tech
n
iq
u
es
w
h
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Evaluation Warning : The document was created with Spire.PDF for Python.
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3717
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3
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izatio
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4
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izatio
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iza
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[
1
0
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,
an
d
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l
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ith
m
(
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A
)
[
1
0
8
]
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ilar
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m
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ith
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ased
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[
9
8
]
.
Hen
ce
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its
s
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m
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as
led
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ith
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[
2
4
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,
[
9
9
]
-
[
1
0
2
]
.
T
h
e
in
f
o
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m
a
tio
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s
g
at
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f
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o
m
s
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n
s
o
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s
o
n
a
r
ea
l
-
ti
m
e
r
o
b
o
t
d
u
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in
g
th
e
n
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v
ig
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p
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o
ce
s
s
.
T
h
is
n
av
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p
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o
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s
s
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ed
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s
.
First,
th
e
n
a
v
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g
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n
is
s
u
e
is
tu
r
n
ed
in
to
a
n
o
p
ti
m
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o
n
p
r
o
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lem
.
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t,
th
e
p
r
o
p
er
o
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jectiv
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f
u
n
ctio
n
is
co
n
s
tr
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ted
in
r
ef
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n
ce
to
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o
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s
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l
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e
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e
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o
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er
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to
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ce
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s
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m
p
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x
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tim
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n
s
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d
s
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ch
ch
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[
1
0
3
]
,
[
1
0
2
]
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Me
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w
h
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,
p
o
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s
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h
eu
r
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s
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m
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p
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s
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d
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to
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ig
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n
ce
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p
o
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t
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f
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v
es
m
a
n
y
p
o
s
s
ib
le
co
n
cl
u
s
io
n
o
r
d
i
m
en
s
io
n
s
t
h
at
ca
n
b
e
o
p
tim
ized
t
h
at
ca
n
ea
s
i
l
y
f
a
ll i
n
to
lo
ca
l o
p
ti
m
a
[
1
0
9
]
-
[
1
1
1
]
.
T
h
e
A
n
t
C
o
lo
n
y
S
y
s
te
m
s
(
AC
S)
is
r
eg
ar
d
ed
as
o
n
e
o
f
th
e
h
eu
r
is
tic
ap
p
r
o
ac
h
es.
Hen
ce
,
t
h
e
s
o
lu
tio
n
to
th
e
p
r
o
b
lem
o
f
co
m
b
i
n
at
o
r
ial
o
p
ti
m
izatio
n
i
s
k
n
o
w
n
as
th
e
A
C
S
p
r
o
ce
s
s
,
w
h
ich
w
as
co
n
d
u
cted
in
ac
co
r
d
an
ce
w
it
h
t
h
e
i
n
n
ate
n
a
tu
r
e
o
f
a
n
t
s
,
p
ar
ticu
lar
l
y
i
n
t
h
e
m
ec
h
an
i
s
m
o
f
co
o
p
er
atio
n
an
d
p
r
ac
tice
[
1
1
2
]
.
Me
an
w
h
ile,
an
o
th
er
co
lo
n
y
a
p
p
r
o
ac
h
,
w
h
ich
i
s
in
r
eg
ar
d
o
f
h
eu
r
i
s
tic
alg
o
r
it
h
m
,
is
k
n
o
w
n
a
s
A
n
t
C
o
lo
n
y
Op
ti
m
izatio
n
(
A
C
O)
.
T
h
e
k
e
y
co
n
ce
p
t
o
f
AC
O
i
s
to
id
ea
lize
a
p
r
o
b
lem
i
n
r
eg
ar
d
to
lo
o
k
i
n
g
f
o
r
th
e
b
asic
co
s
t
p
ath
in
a
g
r
ap
h
.
T
h
e
AC
O
co
n
tr
ad
icts
th
e
AC
S
i
n
t
h
e
f
o
r
m
o
f
p
h
er
o
m
o
n
e
tr
ails
[
1
0
5
]
,
[
1
1
3
]
,
[
1
1
4
]
.
I
n
th
e
ca
s
e
o
f
AC
O,
t
h
e
p
h
er
o
m
o
n
e
i
s
u
p
g
r
ad
ed
in
t
w
o
w
a
y
s
,
w
h
ich
ar
e
lo
ca
lly
a
n
d
a
g
lo
b
al
u
p
d
atin
g
r
u
le
in
o
r
d
er
to
ad
j
u
s
t
th
e
p
h
er
o
m
o
n
e
le
v
el
o
n
th
e
ed
g
es
t
h
at
is
as
s
i
g
n
ed
t
o
th
e
f
i
n
est
e
x
is
tin
g
a
n
t
to
u
r
.
A
cc
o
r
d
in
g
to
th
e
liter
atu
r
e,
b
o
th
A
C
S
a
n
d
A
C
O
w
er
e
d
is
co
v
er
ed
to
g
en
er
a
te
r
o
b
u
s
t
an
d
f
le
x
ib
le
s
k
ills
i
n
o
r
d
er
to
m
an
a
g
e
v
ar
io
u
s
o
p
ti
m
izatio
n
ch
al
len
g
es.
I
n
ad
d
itio
n
,
A
C
O
h
as
also
b
ee
n
ad
j
u
s
ted
to
n
u
m
b
er
o
f
o
d
o
r
s
o
u
r
ce
lo
ca
lizatio
n
[
4
1
]
,
[
1
1
5
]
,
[
1
1
6
]
.
Oth
er
t
h
an
t
h
at,
it
al
s
o
p
r
esen
ts
t
w
o
a
n
t
-
i
n
s
p
ir
ed
r
o
b
o
t
f
o
r
ag
in
g
al
g
o
r
ith
m
s
,
w
h
ic
h
g
e
n
er
ate
a
b
etter
ar
r
an
g
e
m
e
n
t
b
et
w
ee
n
th
e
r
o
b
o
ts
[
1
1
7
]
.
Ov
er
all,
th
e
u
tili
za
tio
n
o
f
A
C
O
alg
o
r
ith
m
i
n
s
w
ar
m
r
o
b
o
ts
ap
p
licatio
n
s
ten
d
s
to
g
e
n
er
ate
ex
ce
ll
en
t
ac
h
ie
v
e
m
e
n
t
in
t
h
e
o
p
ti
m
izatio
n
p
r
o
ce
s
s
[
3
1
]
,
[
1
1
8
]
,
[
1
1
9
]
.
Nev
er
th
eles
s
,
th
e
AC
O
alg
o
r
it
h
m
in
n
av
i
g
atio
n
s
y
s
te
m
s
ee
m
s
t
o
p
o
s
s
ess
a
f
e
w
d
is
ad
v
an
ta
g
es
as
a
r
es
u
lt
o
f
th
e
d
ep
en
d
en
t
p
r
o
ce
s
s
o
f
AC
O,
w
h
ic
h
r
es
u
lt
s
i
n
t
h
e
u
n
clea
r
ti
m
e
o
f
co
n
v
er
g
e
n
ce
.
Var
io
u
s
n
atu
r
al
s
y
s
te
m
s
h
a
v
e
d
em
o
n
s
tr
ated
t
h
at
v
er
y
b
asic
i
n
d
iv
id
u
al
o
r
g
a
n
is
m
s
ar
e
ab
le
to
f
o
r
m
s
y
s
te
m
s
t
h
at
ca
n
co
n
d
u
ct
e
x
tr
e
m
el
y
d
i
f
f
icu
l
t
w
o
r
k
b
y
d
y
n
a
m
ical
l
y
co
m
m
u
n
icati
n
g
w
i
th
o
n
e
an
o
t
h
er
.
Th
e
ar
tif
icial
b
ee
co
m
m
u
n
itie
s
ar
e
d
ee
m
ed
to
s
h
ar
e
s
i
m
ilar
b
eh
av
io
r
an
d
ar
e
r
eg
ar
d
ed
to
b
e
s
lig
h
tl
y
d
if
f
er
e
n
t
f
r
o
m
t
h
e
n
at
u
r
al
b
ee
s
.
Hen
ce
,
th
e
ar
ti
f
icial
b
ee
co
lo
n
y
o
p
ti
m
izatio
n
(
B
C
O)
is
b
eli
ev
ed
to
b
e
ca
p
ab
le
o
f
s
o
lv
i
n
g
co
n
s
tr
icted
o
p
ti
m
iz
atio
n
is
s
u
e
s
.
A
p
a
r
t
f
r
o
m
t
h
at,
t
h
e
B
C
O
p
o
s
s
e
s
s
t
h
e
ab
ilit
y
to
s
ettle
d
eter
m
i
n
i
s
tic
co
m
b
i
n
ato
r
ial
p
r
o
b
le
m
s
,
i
n
cl
u
d
in
g
co
m
b
in
ato
r
ial
p
r
o
b
le
m
s
th
at
ar
e
ca
te
g
o
r
ized
b
y
u
n
ce
r
t
ain
t
y
[
1
0
7
]
.
Oth
er
th
an
t
h
at,
B
C
O
h
a
s
b
ee
n
u
t
ilized
f
o
r
th
e
p
u
r
p
o
s
e
o
f
d
e
v
is
i
n
g
p
ath
in
m
o
b
ile
r
o
b
o
ts
[
1
2
0
]
-
[
1
2
2
]
.
T
h
e
ch
alle
n
g
e
s
o
f
th
is
s
t
u
d
y
r
e
f
er
to
th
e
ef
f
o
r
t
o
f
f
i
n
d
in
g
o
u
t
t
h
e
tr
aj
ec
to
r
y
o
f
m
o
tio
n
o
f
t
h
e
r
o
b
o
ts
.
T
h
is
p
r
o
ce
s
s
b
eg
in
s
f
r
o
m
a
p
r
ed
ef
in
ed
s
tar
t
in
g
p
o
s
itio
n
to
a
p
er
m
a
n
en
t
ta
r
g
et
p
o
s
itio
n
in
t
h
e
w
o
r
ld
m
ap
w
it
h
th
e
f
i
n
al
ai
m
o
f
r
ed
u
cin
g
t
h
e
r
o
u
te
d
is
ta
n
ce
o
f
all
t
h
e
r
o
b
o
ts
.
T
h
e
alg
o
r
ith
m
co
m
p
r
i
s
es
o
f
a
r
ec
r
u
it
m
en
t
m
eth
o
d
to
co
llab
o
r
ate
th
e
estab
lis
h
ed
f
i
n
d
in
g
s
w
ith
o
th
er
r
o
b
o
ts
o
f
th
e
s
w
ar
m
,
in
c
lu
d
i
n
g
a
n
a
v
i
g
atio
n
p
lan
to
n
av
ig
ate
i
n
an
u
n
f
a
m
iliar
w
o
r
ld
.
T
h
e
B
C
O
alg
o
r
it
h
m
is
u
s
ef
u
l
in
g
e
n
er
ati
n
g
a
n
ef
f
ec
t
iv
e
s
o
lu
t
io
n
to
o
v
er
co
m
e
t
h
e
is
s
u
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
6
,
Dec
em
b
er
2
0
1
7
:
3
711
–
3
726
3718
o
f
p
ath
p
lan
n
in
g
,
w
h
ich
co
n
s
eq
u
en
tl
y
d
ec
r
ea
s
e
th
e
ti
m
e
f
o
r
th
e
p
ath
to
e
m
er
g
e.
Ho
w
ev
er
,
th
e
alg
o
r
ith
m
is
lo
ca
l
co
n
v
er
g
e
n
ce
,
w
h
ich
is
in
ca
p
ab
le
o
f
s
ec
u
r
in
g
t
h
e
g
lo
b
al
co
n
v
er
g
en
ce
b
ec
a
u
s
e
th
e
y
ar
e
ab
s
o
l
u
tel
y
ra
n
d
o
m
[
1
2
5
]
-
[
1
2
6
]
.
T
h
er
ef
o
r
e,
th
e
al
g
o
r
ith
m
m
u
s
t
b
e
i
m
p
r
o
v
ed
in
o
r
d
er
to
p
r
esen
t
an
en
v
ir
o
n
m
e
n
t
t
h
at
is
eq
u
ip
p
ed
w
ith
ce
r
tai
n
t
y
,
d
y
n
a
m
ic,
an
d
s
to
c
h
asti
c
p
r
o
p
er
t
y
.
Fire
f
l
y
a
lg
o
r
it
h
m
(
FF
)
is
k
n
o
w
n
to
g
en
er
ate
s
h
o
r
t
an
d
r
h
y
t
h
m
ic
f
la
s
h
e
s
.
Sp
ec
if
icall
y
,
th
e
d
es
ig
n
o
f
f
las
h
es
i
s
g
e
n
er
all
y
ex
c
lu
s
iv
e
f
o
r
a
p
ar
ticu
lar
s
p
ec
ies.
T
w
o
b
asic
r
o
les
o
f
s
u
c
h
f
las
h
es
ar
e
to
d
r
aw
t
h
e
atten
tio
n
o
f
m
ati
n
g
p
ar
tn
er
s
(
co
m
m
u
n
icatio
n
)
a
n
d
p
o
ten
t
i
al
p
r
e
y
[
1
0
8
]
.
I
n
th
e
s
w
ar
m
r
o
b
o
ts
ap
p
licatio
n
,
f
ir
ef
l
y
i
s
u
til
ized
in
th
e
p
r
o
ce
s
s
o
f
d
e
v
is
i
n
g
p
ath
as
w
ell
as
f
au
lt
to
l
er
an
ce
ch
ar
ac
ter
i
s
tic
[
1
2
7
]
-
[
1
2
9
]
.
T
h
e
p
ath
p
lan
n
i
n
g
h
as
b
ec
o
m
e
a
m
aj
o
r
ch
alle
n
g
e
i
n
th
e
n
a
v
i
g
atio
n
o
f
m
o
b
ile
r
o
b
o
ts
,
w
it
h
th
e
f
o
c
u
s
o
f
f
ig
u
r
in
g
o
u
t
t
h
e
b
est
p
ath
w
i
th
t
h
e
m
i
n
i
m
u
m
r
i
s
k
o
f
co
llis
io
n
in
a
g
iv
e
n
s
u
r
r
o
u
n
d
i
n
g
.
Ge
n
er
all
y
,
t
h
er
e
ar
e
d
if
f
er
e
n
t
r
o
u
tes
t
h
at
ca
n
ass
is
t
t
h
e
r
o
b
o
t
to
ar
r
iv
e
at
a
p
ar
ticu
lar
tar
g
et,
b
u
t
it
is
i
m
p
o
r
tan
t
to
n
o
te
th
a
t
th
e
b
est
p
ath
h
a
s
to
b
e
ch
o
s
en
b
ased
o
n
t
h
e
estab
li
s
h
e
d
g
u
id
eli
n
e.
T
ab
le
2
.
Sw
ar
m
i
n
telli
g
e
n
ce
p
er
f
o
r
m
an
ce
i
n
i
n
telli
g
e
n
t n
a
v
i
g
atio
n
A
l
g
o
r
i
t
h
m
P
r
o
c
e
ss
B
e
h
a
v
i
o
r
C
o
mp
u
t
a
t
i
o
n
a
l
W
o
r
d
p
r
o
b
l
e
ms
P
a
r
t
i
c
l
e
S
w
a
r
m
O
p
t
i
mi
z
a
t
i
o
n
a
g
g
r
e
g
a
t
i
n
g
a
n
d
f
l
o
c
k
i
n
g
c
o
o
r
d
i
n
a
t
e
mo
t
i
o
n
a
n
d
c
o
l
l
e
c
t
i
v
e
e
x
p
l
o
r
a
t
i
o
n
l
o
w
r
a
t
e
t
a
r
g
e
t
se
e
k
i
n
g
,
p
a
t
h
p
l
a
n
n
i
n
g
,
l
o
c
a
l
i
z
a
t
i
o
n
A
n
t
C
o
l
o
n
y
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alg
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ith
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m
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n
ica
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.
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n
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ter
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r
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ex
ce
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th
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ab
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to
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ev
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ain
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is
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ib
u
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,
a
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ti
n
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n
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o
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m
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ata
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s
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d
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ca
p
ab
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o
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er
atin
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n
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ed
is
tr
ib
u
ti
o
n
to
ad
h
er
e
to
th
e
s
itu
a
tio
n
p
r
o
v
id
ed
if
t
h
e
r
o
b
o
t
is
u
n
ab
le
to
f
u
n
ctio
n
[
2
9
]
.
Hen
ce
,
it
i
s
w
it
h
o
u
t
d
o
u
b
t
t
h
at
a
g
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m
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g
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v
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to
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p
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s
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tr
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llin
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b
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t
tea
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s
.
Ho
w
e
v
er
,
it
is
i
m
p
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r
ta
n
t
to
ac
k
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led
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if
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ic
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lt
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d
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e
to
its
ab
ilit
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to
co
m
p
lica
t
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m
[
1
3
0
]
.
I
n
ad
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itio
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,
s
ev
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al
t
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p
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o
f
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tr
alize
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m
et
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tili
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d
[
1
3
0
]
,
[
1
3
1
]
,
b
u
t
no
s
ig
n
if
ica
n
t
li
m
itat
i
o
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s
m
a
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to
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etec
ted
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u
s
it
ca
n
n
o
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tr
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ed
as
a
g
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-
p
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p
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s
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tio
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.
T
h
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d
is
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v
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ta
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s
o
f
ce
n
tr
alize
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co
n
tr
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in
cl
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p
lex
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lac
k
o
f
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,
an
d
u
n
r
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s
o
n
ab
le
r
o
b
u
s
tn
es
s
[
1
3
2
]
.
T
ab
le
4
.
Stre
n
g
th
s
an
d
li
m
itati
o
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f
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v
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n
tio
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al
A
I
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t c
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p
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ti
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g
ap
p
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s
A
p
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S
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g
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L
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R
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S
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mu
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(
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e
q
u
i
r
e
s a
c
o
n
si
s
t
e
n
t
ma
p
[
6
]
;
[
1
3
3
]
;
[
1
3
4
]
.
P
o
t
e
n
t
i
a
l
F
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l
d
q
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k
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[
5
6
]
;
[
7
]
.
C
u
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ma
[
6
5
]
;
[
8
]
.
T
h
e
d
y
n
a
mi
c
w
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n
d
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w
a
p
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(DWA)
A
c
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c
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p
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r
a
p
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mi
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ma
[
1
3
5
]
;
[
9
]
.
Ty
p
e
-
1
F
u
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z
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L
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S
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h
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f
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p
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t
.
[
7
2
]
;
[
1
3
6
]
;
[
9
6
]
.
Ty
p
e
-
2
F
u
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se
[
1
3
7
]
;
[
1
3
8
]
;
[
8
2
]
;
[
8
1
]
;
[
8
4
]
.
N
e
u
r
a
l
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[
1
3
9
]
;
[
9
0
]
.
H
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[
1
4
2
]
;
[
1
4
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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Sw
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r
s
en
s
ed
b
y
th
e
r
o
b
o
ts
th
e
m
s
el
v
es.
S
w
ar
m
r
o
b
o
ts
ar
e
i
n
s
p
ir
ed
b
y
b
io
lo
g
ical
ev
o
lu
tio
n
,
w
h
ic
h
al
s
o
co
n
s
eq
u
e
n
tl
y
d
ev
elo
p
b
eh
a
v
io
r
s
f
r
o
m
an
i
m
a
ls
i
n
o
r
d
er
to
p
r
o
d
u
ce
o
p
ti
m
al
co
l
lectiv
e
d
ec
is
io
n
s
co
n
ce
r
n
i
n
g
th
e
n
a
v
i
g
atio
n
o
f
i
n
d
iv
id
u
al
r
o
b
o
ts
as
w
ell
as
to
g
en
er
ate
e
f
f
icien
t
an
d
r
o
b
u
s
t
n
av
i
g
atio
n
.
I
n
t
h
is
s
it
u
atio
n
,
ea
ch
r
o
b
o
t
ten
d
s
to
d
eter
m
in
e
its
i
n
d
iv
id
u
a
l
ac
tio
n
b
y
r
ec
o
g
n
iz
in
g
t
h
e
p
r
esen
t
s
u
r
r
o
u
n
d
in
g
t
h
e
y
ar
e
i
n
a
n
d
e
m
p
lo
y
i
n
g
a
n
u
m
b
er
o
f
p
r
ed
ef
i
n
ed
co
n
tr
o
l
la
w
s
.
T
h
e
ce
n
tr
al
p
r
o
p
o
s
al
is
to
co
n
s
tr
u
ct
co
n
tr
o
l
la
w
s
t
h
at
will
allo
w
t
h
e
e
n
tire
r
o
b
o
t
s
y
s
t
e
m
to
ac
co
m
p
lis
h
t
h
e
tar
g
et
o
b
j
ec
tiv
es
s
u
c
h
a
s
co
llis
io
n
-
f
r
ee
n
av
ig
at
io
n
o
r
b
u
ild
in
g
a
s
p
atial
s
tr
u
ctu
r
e.
C
u
r
r
en
tl
y
,
a
n
u
m
b
er
o
f
s
w
ar
m
in
telli
g
en
ce
-
b
ased
o
p
ti
m
iza
tio
n
alg
o
r
it
h
m
s
h
a
v
e
b
ee
n
s
u
g
g
e
s
ted
b
y
n
u
m
er
o
u
s
r
esear
ch
er
s
in
o
r
d
er
to
o
v
er
co
m
e
th
e
tr
ad
itio
n
al
c
en
tr
alize
d
alg
o
r
it
h
m
s
w
h
ic
h
i
n
clu
d
e
P
SO,
AC
O,
B
C
O,
an
d
F
A
.
T
h
e
y
m
o
v
e
in
a
s
y
s
te
m
atic
m
a
n
n
er
w
i
th
o
u
t
an
y
co
o
r
d
in
ato
r
.
T
h
ey
ar
e
p
r
o
ce
s
s
ed
in
s
i
m
p
le
co
d
e
an
d
lo
w
co
m
p
u
ta
tio
n
al
r
eso
u
r
ce
s
,
w
h
er
eb
y
th
e
i
n
d
iv
id
u
al
s
y
s
te
m
i
s
b
eliev
ed
to
h
av
e
th
e
ab
ilit
y
to
tr
an
s
f
o
r
m
i
ts
m
o
v
e
m
e
n
t
m
o
d
e
w
h
e
n
t
h
e
co
m
p
u
tat
io
n
al
p
r
ic
e
is
h
i
g
h
.
A
s
f
o
r
m
o
b
ile
r
o
b
o
t
n
a
v
ig
a
tio
n
,
s
w
ar
m
in
telli
g
e
n
ce
is
p
r
o
p
o
s
ed
in
o
r
d
er
to
f
ig
u
r
e
o
u
t
an
o
p
ti
m
a
l
an
d
co
llis
io
n
-
f
r
ee
r
o
u
te
f
r
o
m
a
s
tar
tin
g
p
o
in
t
to
th
e
tar
g
et
p
o
in
t
in
u
n
f
a
m
iliar
a
n
d
ch
a
n
g
i
n
g
s
u
r
r
o
u
n
d
in
g
[
1
0
4
]
-
[
1
0
8
]
.
T
h
e
co
m
m
o
n
s
w
ar
m
i
n
telli
g
e
n
ce
s
y
s
te
m
p
o
s
s
ess
es
th
e
li
s
ted
f
u
n
d
a
m
en
tal
p
r
in
cip
le
c
h
ar
ac
ter
is
tic
s
s
u
c
h
as
p
r
o
x
i
m
it
y
,
q
u
alit
y
,
d
iv
er
s
e
r
esp
o
n
s
e,
s
tab
ilit
y
,
an
d
ad
ap
tab
ilit
y
.
Fi
n
all
y
,
t
h
is
r
e
v
ie
w
p
r
o
v
id
es
a
n
u
m
b
er
o
f
co
m
p
ar
is
o
n
s
o
n
th
e
r
elate
d
alg
o
r
ith
m
,
esp
ec
iall
y
o
n
t
h
e
u
tili
za
tio
n
o
f
t
h
e
s
w
ar
m
i
n
tel
lig
e
n
t
a
lg
o
r
it
h
m
i
n
s
o
l
v
in
g
t
h
e
i
n
h
er
en
t
li
m
itatio
n
s
o
f
m
o
b
ile
r
o
b
o
t n
av
ig
atio
n
.
T
ab
le
5
.
Stre
n
g
th
s
an
d
li
m
itati
o
n
s
o
f
s
w
ar
m
i
n
telli
g
e
n
ce
ap
p
r
o
ac
h
in
n
a
v
i
g
atio
n
s
y
s
te
m
A
l
g
o
r
i
t
h
m
S
t
r
e
n
g
t
h
s
L
i
mi
t
a
t
i
o
n
s
R
e
f
e
r
e
n
c
e
s
P
a
r
t
i
c
l
e
S
w
a
r
m
O
p
t
i
mi
z
a
t
i
o
n
e
a
sy
t
o
i
mp
l
e
me
n
t
f
e
w
p
a
r
a
me
t
e
r
c
o
n
t
r
o
l
l
o
w
c
o
mp
u
t
a
t
i
o
n
g
r
e
a
t
o
p
t
i
mi
z
a
t
i
o
n
a
b
i
l
i
t
y
f
a
st
c
o
n
v
e
r
g
e
n
c
e
g
o
o
d
i
mp
l
e
me
n
t
a
t
i
o
n
i
n
sw
a
r
m
r
o
b
o
t
s
p
r
e
mat
u
r
e
c
o
n
v
e
r
g
e
n
c
e
sl
o
w
c
o
n
v
e
r
g
e
n
c
e
o
p
t
i
m
a
l
i
t
y
c
o
n
v
e
r
g
e
n
c
e
i
n
f
l
u
e
n
c
e
d
b
y
i
n
e
r
t
i
a
w
e
i
g
h
t
l
o
w
f
l
e
x
i
b
i
l
i
t
y
t
r
a
p
i
n
l
o
c
a
l
m
i
n
i
ma
[
5
0
]
;
[
1
4
4
]
;
[
1
4
5
]
.
A
n
t
C
o
l
o
n
y
O
p
t
i
mi
z
a
t
i
o
n
d
i
s
t
r
i
b
u
t
e
d
c
o
mp
u
t
a
t
i
o
n
d
y
n
a
mi
c
a
p
p
l
i
c
a
t
i
o
n
g
o
o
d
r
e
su
l
t
i
n
sw
a
r
m ro
b
o
t
s se
a
r
c
h
a
n
d
e
x
p
l
o
r
a
t
i
o
n
d
i
f
f
i
c
u
l
t
a
n
a
l
y
si
s
sl
o
w
c
o
n
v
e
r
g
e
n
c
e
u
n
c
e
r
t
a
i
n
t
i
me
t
o
c
o
n
v
e
r
g
e
[
1
0
4
]
;
[
1
1
3
]
;
[
1
1
4
]
;
[
1
0
5
]
.
B
e
e
C
o
l
o
n
y
O
p
t
i
mi
z
a
t
i
o
n
F
a
st
c
o
n
v
e
r
g
e
n
c
e
h
i
g
h
f
l
e
x
i
b
i
l
i
t
y
g
l
o
b
a
l
o
p
t
i
m
i
z
a
t
i
o
n
su
p
p
o
r
t
i
m
p
l
e
me
n
t
a
t
i
o
n
o
f
p
a
r
a
l
l
e
l
p
r
o
c
e
ssi
n
g
h
i
g
h
c
o
m
p
u
t
a
t
i
o
n
a
l
c
o
st
p
o
o
r
c
o
n
v
e
r
g
e
n
c
e
l
o
c
a
l
o
p
t
i
m
i
z
a
t
i
o
n
[
1
0
7
]
;
[
1
2
1
]
.
F
i
r
e
f
l
y
A
l
g
o
r
i
t
h
m
t
h
e
h
i
g
h
c
o
n
v
e
r
g
e
n
c
e
r
a
t
e
l
o
w
c
o
mp
u
t
a
t
i
o
n
a
l
c
o
st
l
e
ss n
u
mb
e
r
o
f
i
t
e
r
a
t
i
o
n
s a
n
d
f
l
o
a
t
i
n
g
p
o
i
n
t
su
i
t
a
b
l
e
f
o
r
p
a
r
a
l
l
e
l
p
r
o
c
e
ssi
n
g
sl
o
w
c
o
n
v
e
r
g
e
n
c
e
sp
e
e
d
t
h
e
a
l
g
o
r
i
t
h
m i
n
f
l
e
x
i
b
l
e
a
l
g
o
r
i
t
h
m
p
a
r
a
me
t
e
r
s
d
o
n
o
t
c
h
a
n
g
e
w
i
t
h
t
h
e
t
i
me
L
o
c
a
l
o
p
t
i
mi
z
a
t
i
o
n
[
1
2
7
]
;
[
1
2
8
]
.
T
ab
le
5
s
h
o
w
s
s
w
ar
m
i
n
tell
ig
en
ce
is
s
u
itab
le
f
o
r
s
i
m
p
l
e
ag
e
n
ts
,
b
u
t
w
it
h
b
as
ic
b
e
h
av
io
r
a
n
d
co
n
s
cio
u
s
n
e
s
s
.
T
h
e
co
n
tr
o
l
s
t
r
u
ctu
r
e
is
d
i
s
p
er
s
ed
d
u
e
to
t
h
e
ab
s
en
ce
o
f
g
lo
b
al
i
n
f
o
r
m
ati
o
n
i
n
t
h
e
s
y
s
te
m
.
Mo
r
eo
v
er
,
th
e
co
llap
s
e
o
f
an
in
d
i
v
id
u
al
a
g
en
t
is
to
ler
ated
w
h
e
n
m
o
b
ile
r
o
b
o
ts
m
o
v
e
d
y
n
a
m
icall
y
i
n
e
v
er
y
ch
an
g
i
n
g
s
u
r
r
o
u
n
d
i
n
g
.
As
f
ar
as
s
w
ar
m
r
o
b
o
ts
ap
p
licatio
n
is
co
n
ce
r
n
ed
,
it
is
d
i
f
f
icu
lt
to
d
esig
n
t
h
e
n
a
v
i
g
atio
n
s
y
s
te
m
co
n
ce
r
n
i
n
g
t
h
e
p
ar
a
m
eter
s
b
ec
au
s
e
th
e
y
m
a
y
p
r
o
v
i
d
e
a
d
r
am
atic
ef
f
ec
t
r
elate
d
to
th
e
e
m
er
g
e
n
ce
o
f
co
llectiv
e
b
eh
a
v
io
r
.
On
th
e
o
th
er
h
a
n
d
,
th
e
in
d
i
v
id
u
al
b
eh
av
io
r
ap
p
ea
r
s
lik
e
n
o
is
e
.
Mo
r
eo
v
er
,
th
er
e
is
n
o
an
al
y
tical
m
ec
h
a
n
i
s
m
an
d
t
h
e
co
llectiv
e
b
eh
a
v
io
r
o
f
s
w
a
r
m
r
o
b
o
ts
ca
n
n
o
t
b
e
i
n
f
er
r
ed
f
r
o
m
s
in
g
le
r
o
b
o
t
b
eh
av
io
r
i
n
t
h
e
ce
r
tai
n
s
it
u
atio
n
.
I
n
ad
d
itio
n
,
it
is
n
ec
e
s
s
ar
y
f
o
r
th
e
f
o
r
m
s
o
f
co
o
r
d
in
atio
n
e
m
p
lo
y
ed
i
n
s
w
ar
m
r
o
b
o
ts
to
tak
e
in
t
o
co
n
s
id
er
atio
n
th
e
u
n
ce
r
tai
n
t
y
,
li
m
itatio
n
,
an
d
m
i
s
ta
k
es
t
h
at
ar
is
e
f
r
o
m
t
h
e
p
r
o
ce
s
s
i
n
g
m
et
h
o
d
o
f
s
en
s
o
r
in
f
o
r
m
atio
n
.
Oth
er
th
a
n
t
h
at,
ea
ch
e
x
is
ti
n
g
alg
o
r
ith
m
s
f
o
r
s
w
ar
m
r
o
b
o
ts
n
av
i
g
atio
n
p
o
s
s
es
s
its
o
w
n
s
tr
e
n
g
t
h
s
an
d
r
estricti
o
n
s
th
at
ar
e
r
elate
d
to
a
s
p
ec
i
f
ic
g
o
al,
w
h
ich
al
s
o
co
n
s
id
er
s
th
e
i
m
p
o
r
tan
ce
o
f
p
r
io
r
ity
a
m
o
n
g
d
i
f
f
er
e
n
t
p
er
f
o
r
m
a
n
ce
.
Fi
n
all
y
,
s
e
v
er
al
al
g
o
r
ith
m
s
m
an
a
g
ed
to
b
e
b
r
ief
l
y
ex
p
lai
n
ed
f
r
o
m
a
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