I
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t
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l J
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urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
11
,
No
.
6
,
Dec
em
b
er
2
0
2
1
,
p
p
.
4
8
9
1
~
4
906
I
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.
v
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ec
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A one de
ca
de sur
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of auto
no
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us mo
bile robo
t
sy
s
tems
No
o
r
Abdu
l K
ha
leq Zg
ha
ir,
Ahm
ed
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Al
-
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j
i
Co
m
p
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ter E
n
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in
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De
p
a
rtme
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t,
Un
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rsit
y
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Tec
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Ba
g
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his
to
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R
ec
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Feb
1
7
,
2
0
21
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ev
is
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y
4
,
2
0
21
Acc
ep
ted
Ma
y
1
7
,
2
0
21
Re
c
e
n
tl
y
,
a
u
to
n
o
m
o
u
s
m
o
b
il
e
ro
b
o
ts
h
a
v
e
g
a
i
n
e
d
p
o
p
u
larity
in
t
h
e
m
o
d
e
rn
wo
rld
d
u
e
to
t
h
e
ir
re
lev
a
n
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e
t
e
c
h
n
o
l
o
g
y
a
n
d
a
p
p
li
c
a
ti
o
n
in
r
e
a
l
wo
rld
situ
a
ti
o
n
s.
Th
e
g
lo
b
a
l
m
a
rk
e
t
fo
r
m
o
b
il
e
ro
b
o
ts
will
g
ro
w
sig
n
ifi
c
a
n
tl
y
o
v
e
r
th
e
n
e
x
t
2
0
y
e
a
rs.
Au
to
n
o
m
o
u
s
m
o
b
il
e
ro
b
o
ts
a
re
fo
u
n
d
in
m
a
n
y
field
s
in
c
lu
d
in
g
i
n
stit
u
t
io
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s,
i
n
d
u
stry
,
b
u
sin
e
ss
,
h
o
s
p
it
a
ls,
a
g
ric
u
lt
u
re
a
s
we
ll
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s
p
riv
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h
o
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h
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ld
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fo
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t
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p
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imp
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a
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to
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a
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a
c
t
iv
it
ies
a
n
d
se
rv
ice
s.
Th
e
d
e
v
e
lo
p
m
e
n
t
o
f
tec
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n
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o
g
y
h
a
s
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n
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re
a
se
d
in
th
e
re
q
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n
ts
fo
r
m
o
b
i
le
ro
b
o
ts
b
e
c
a
u
se
o
f
th
e
se
rv
ice
s
a
n
d
tas
k
s
p
r
o
v
i
d
e
d
b
y
th
e
m
,
li
k
e
re
sc
u
e
a
n
d
re
se
a
rc
h
o
p
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ra
ti
o
n
s,
s
u
rv
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lan
c
e
,
c
a
rry
h
e
a
v
y
o
b
jec
ts
a
n
d
so
o
n
.
Re
se
a
rc
h
e
rs
h
a
v
e
c
o
n
d
u
c
ted
m
a
n
y
wo
rk
s
o
n
t
h
e
i
m
p
o
rtan
c
e
o
f
ro
b
o
ts,
t
h
e
ir
u
se
s,
a
n
d
p
ro
b
lem
s.
Th
is
a
rti
c
le
a
ims
to
a
n
a
ly
z
e
t
h
e
c
o
n
tro
l
s
y
ste
m
o
f
m
o
b
il
e
ro
b
o
ts
a
n
d
th
e
wa
y
r
o
b
o
ts h
a
v
e
th
e
a
b
il
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y
o
f
m
o
v
i
n
g
i
n
re
a
l
-
wo
rl
d
to
a
c
h
iev
e
th
e
ir
g
o
a
ls.
It
sh
o
u
l
d
b
e
n
o
ted
t
h
a
t
th
e
re
a
re
se
v
e
ra
l
tec
h
n
o
lo
g
ica
l
d
ire
c
ti
o
n
s
in
a
m
o
b
il
e
ro
b
o
t
in
d
u
str
y
.
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m
u
st
b
e
o
b
se
rv
e
d
a
n
d
in
te
g
ra
ted
s
o
t
h
a
t
t
h
e
ro
b
o
t
f
u
n
c
ti
o
n
s
p
ro
p
e
rly
:
Na
v
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g
a
ti
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sy
ste
m
s,
lo
c
a
li
z
a
ti
o
n
s
y
ste
m
s,
d
e
tec
ti
o
n
sy
ste
m
s
(se
n
so
rs)
a
lo
n
g
with
m
o
ti
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n
a
n
d
k
in
e
m
a
ti
c
s
a
n
d
d
y
n
a
m
ics
sy
ste
m
s.
All
su
c
h
s
y
ste
m
s
sh
o
u
ld
b
e
u
n
i
ted
t
h
ro
u
g
h
a
c
o
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tro
l
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n
it
;
t
h
u
s,
th
e
m
issio
n
o
r
wo
rk
o
f
m
o
b
il
e
ro
b
o
ts
a
re
c
o
n
d
u
c
ted
with
re
li
a
b
il
it
y
.
K
ey
w
o
r
d
s
:
Au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
t
L
o
ca
lizatio
n
C
o
g
n
itio
n
Mo
tio
n
p
lan
n
in
g
Nav
ig
atio
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T
h
is i
s
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n
o
p
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n
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c
c
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ss
a
rticle
u
n
d
e
r th
e
CC B
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SA
li
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C
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s
p
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A
uth
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r
:
No
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Ab
d
u
l K
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aleq
Z
g
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Dep
ar
tm
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t o
f
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in
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Un
iv
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s
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T
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Al
Sen
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a
St,
Al
-
W
ah
d
a,
B
ag
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r
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m
ail:
1
2
0
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u
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tech
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.
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1.
I
NT
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UCT
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with
th
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in
cr
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th
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p
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m
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cien
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esear
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f
ield
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wh
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ar
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r
ap
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ly
g
r
o
win
g
.
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ec
au
s
e
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f
th
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ca
p
ab
ilit
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h
u
m
an
s
m
ig
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t
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u
b
s
titu
ted
v
ia
m
o
b
ile
r
o
b
o
ts
in
v
ar
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o
u
s
f
ield
s
.
W
h
ile
th
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y
h
av
e
m
an
y
ap
p
licatio
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s
s
u
ch
as
m
ed
ical
ca
r
e
,
p
er
s
o
n
al
s
er
v
ices,
en
ter
tain
m
en
t,
in
d
u
s
tr
ial
au
to
m
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,
em
er
g
en
cy
r
escu
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o
p
e
r
atio
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s
,
s
u
r
v
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,
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ec
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c
o
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,
g
u
id
es
in
ter
v
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tio
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in
ex
tr
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ir
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m
e
n
ts
,
an
d
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also
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ity
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th
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ar
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alr
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y
p
r
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v
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th
e
m
a
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k
ets.
I
n
2
0
1
7
,
a
s
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d
y
co
n
d
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v
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g
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ltan
ts
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Kin
s
ey
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u
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ed
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at
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y
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2
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3
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,
a
th
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o
f
USA’
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ep
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b
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ts
an
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to
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.
Yet,
tim
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lin
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ig
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t
b
e
ch
an
g
ed
v
ia
e
v
en
ts
s
u
ch
as
p
an
d
em
ics.
I
n
2
0
2
0
th
e
co
r
o
n
av
ir
u
s
d
is
ea
s
e
(
C
OVI
D
-
1
9
)
o
u
tb
r
ea
k
s
p
ed
u
p
th
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p
r
o
ce
s
s
an
d
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p
en
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u
p
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e
w
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f
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in
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au
to
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m
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au
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m
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in
m
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to
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.
A
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n
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wh
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n
it
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ittl
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u
m
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ter
v
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tio
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d
its
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f
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p
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o
f
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m
in
in
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t
h
e
ac
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s
tak
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f
o
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p
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f
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m
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u
tili
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p
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p
tio
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s
y
s
tem
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wh
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h
elp
it
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a
v
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Als
o
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it
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q
u
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co
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tem
o
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itio
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it
f
o
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co
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in
atin
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all
s
u
b
-
s
y
s
tem
s
wh
ich
in
c
lu
d
e
r
o
b
o
tics
[
1
]
,
in
d
icatin
g
th
at
r
o
b
o
ts
s
h
o
u
ld
b
e
ca
p
a
b
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o
f
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av
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with
n
o
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is
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u
p
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s
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p
ab
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tacle
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d
o
o
r
o
r
in
d
o
o
r
en
v
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n
m
en
ts
[
2
]
.
I
n
ad
d
itio
n
,
en
v
ir
o
n
m
en
t
m
o
d
eli
n
g
,
r
ec
o
g
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itio
n
,
p
lan
n
in
g
a
s
w
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as
m
o
tio
n
h
av
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
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8
8
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8
7
0
8
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
6
,
Dec
em
b
e
r
2
0
2
1
:
4
8
9
1
-
4
9
0
6
4892
b
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co
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f
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in
tellig
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3
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An
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p
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ce
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b
lo
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e
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in
Fig
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1
[
4
]
.
T
h
e
m
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aim
o
f
th
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wo
r
k
is
p
r
o
v
id
in
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an
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a
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w
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in
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in
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s
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s
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b
ile
r
o
b
o
t.
Fig
u
r
e
1
.
B
u
ild
in
g
b
lo
c
k
s
o
f
m
o
b
ile
r
o
b
o
t c
o
n
tr
o
l sch
em
e
2.
P
E
RCEP
T
I
O
N
SYS
T
E
M
(
S
E
NSO
RS)
R
o
b
o
t
p
er
ce
p
tio
n
was
as
s
o
ciate
d
to
v
ar
i
o
u
s
r
o
b
o
ts
’
ap
p
licatio
n
s
wh
ich
in
v
o
lv
e
a
rtif
icia
l
in
tell
ig
ence
/
m
a
chi
n
e
lea
rnin
g
(
AI
/ML
)
ap
p
r
o
ac
h
es
a
n
d
s
en
s
o
r
y
d
ata
[
5
]
.
A
s
ig
n
if
ican
t
task
o
f
a
u
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
o
f
all
ty
p
es
wer
e
g
ain
in
g
k
n
o
wled
g
e
r
eg
ar
d
i
n
g
its
en
v
ir
o
n
m
e
n
t
f
o
r
d
etec
t
in
g
o
b
jects
ar
o
u
n
d
it
o
r
its
r
elativ
e
p
o
s
itio
n
an
d
to
m
ak
e
d
ec
is
io
n
s
ac
co
r
d
in
g
ly
.
Per
ce
p
tio
n
is
a
m
u
s
t
wh
en
s
tu
d
y
in
g
m
o
b
ile
r
o
b
o
ts
.
T
h
is
m
ig
h
t
b
e
d
o
n
e
v
ia
tak
in
g
m
ea
s
u
r
em
en
ts
with
v
ar
io
u
s
s
en
s
o
r
s
an
d
af
ter
th
at
ex
tr
ac
t
s
ig
n
if
ican
t
in
f
o
r
m
atio
n
f
r
o
m
m
ea
s
u
r
em
e
n
ts
o
f
th
ese
s
en
s
o
r
s
[
6
]
.
T
h
e
u
s
e
o
f
s
en
s
o
r
s
en
ab
les
task
s
to
b
e
ca
r
r
ie
d
o
u
t
t
o
p
o
s
itio
n
an
d
lo
ca
lize
r
o
b
o
ts
.
T
h
ey
ar
e
also
u
s
ed
to
m
ap
p
in
g
an
d
r
ep
r
esen
tatio
n
[
1
]
o
b
s
tacle
r
ec
o
g
n
itio
n
[
7
]
,
o
b
ject
d
etec
tio
n
[
8
]
,
s
em
an
t
ic
class
if
icatio
n
o
f
p
lace
s
[
9
]
,
g
estu
r
e
an
d
s
p
ee
ch
r
ec
o
g
n
itio
n
[
1
0
]
,
r
o
ad
r
ec
o
g
n
itio
n
[
1
1
]
,
v
eh
icle
r
ec
o
g
n
itio
n
[
1
2
]
Ped
estrian
r
ec
o
g
n
itio
n
[
1
3
]
an
d
o
b
ject
tr
ac
k
in
g
[
7
]
.
Ho
wev
er
,
wh
en
th
e
m
o
b
ile
r
o
b
o
t
ca
n
n
o
t
p
r
o
p
er
ly
an
d
ef
f
icien
tly
o
b
s
er
v
e
th
e
e
n
v
ir
o
n
m
en
t,
p
er
f
o
r
m
in
g
task
s
s
u
ch
as
ac
cu
r
ately
lo
ca
tin
g
a
n
o
b
ject
ca
n
b
ec
o
m
e
a
p
r
o
b
lem
.
T
o
att
ain
th
is
,
th
e
in
f
o
r
m
ati
o
n
is
r
ea
lized
u
s
in
g
s
en
s
o
r
s
an
d
o
th
e
r
-
r
eg
a
r
d
in
g
d
ev
ices
[
2
]
.
T
y
p
ically
,
th
e
m
ajo
r
co
m
p
o
n
en
ts
r
elate
d
to
p
er
ce
p
tio
n
s
y
s
tem
ar
e
alg
o
r
ith
m
s
f
o
r
m
a
chi
n
e
lea
rn
in
g
(
ML
)
,
d
ata
p
r
esen
tatio
n
(
e
n
v
ir
o
n
m
e
n
t
m
o
d
elin
g
)
an
d
s
en
s
o
r
y
p
r
o
ce
s
s
in
g
,
as
s
h
o
wn
in
Fig
u
r
e
2
[
5
]
wh
er
e
th
e
p
r
esen
ted
s
tu
d
y
is
p
r
o
v
id
in
g
th
e
m
ajo
r
s
en
s
o
r
s
u
tili
ze
d
in
m
o
b
ile
r
o
b
o
ts
.
2
.
1
.
Sens
o
r
t
y
pes
f
o
r
m
o
bil
e
ro
b
o
t
s
T
h
er
e
ar
e
a
lo
t
o
f
s
en
s
o
r
s
th
at
m
ig
h
t
b
e
u
tili
ze
d
in
m
o
b
ile
r
o
b
o
ts
f
o
r
co
llectin
g
d
ata.
A
f
ew
s
en
s
o
r
s
wer
e
u
tili
ze
d
f
o
r
m
ea
s
u
r
in
g
s
im
p
le
q
u
an
titi
es
lik
e
r
o
b
o
t’
s
in
ter
n
al
tem
p
er
atu
r
e
o
r
m
o
to
r
s
’
s
p
ee
d
.
Als
o
,
ex
tr
a
co
m
p
lex
s
en
s
o
r
s
m
ig
h
t
b
e
u
tili
ze
d
f
o
r
co
llectin
g
in
f
o
r
m
atio
n
r
eg
ar
d
in
g
th
e
en
v
ir
o
n
m
en
t
o
f
r
o
b
o
ts
o
r
m
ea
s
u
r
in
g
(
d
ir
ec
tly
)
th
e
g
lo
b
al
p
o
s
itio
n
o
f
r
o
b
o
ts
[
6
]
.
B
asically
,
r
o
b
o
ts
wer
e
d
ev
elo
p
ed
f
o
r
wo
r
k
in
g
in
two
ty
p
es
o
f
en
v
ir
o
n
m
en
t
ca
teg
o
r
ies:
o
u
td
o
o
r
s
an
d
in
d
o
o
r
s
.
T
h
u
s
,
s
en
s
o
r
s
ar
e
d
if
f
er
en
tly
u
s
ed
b
ased
o
n
en
v
ir
o
n
m
en
t,
an
d
th
u
s
th
e
s
en
s
o
r
y
d
ata
wh
ich
m
u
s
t
b
e
p
r
o
ce
s
s
ed
v
ia
th
e
s
en
s
o
r
s
y
s
tem
is
n
o
t
th
e
s
am
e
f
o
r
o
u
td
o
o
r
an
d
in
d
o
o
r
s
ce
n
ar
io
s
[
5
]
.
T
h
e
s
en
s
o
r
s
u
tili
ze
d
in
d
ata
ac
q
u
is
itio
n
wer
e
d
iv
id
ed
in
to
two
im
p
o
r
tan
t
f
u
n
ctio
n
al
ax
es:
[
1
]
,
[
6
]
.
First
is
p
r
o
p
r
io
ce
p
tiv
e
o
r
ex
ter
o
ce
p
tiv
e
s
en
s
o
r
s
,
th
e
s
ec
o
n
d
is
p
ass
iv
e
o
r
ac
tiv
e
s
en
s
o
r
s
.
Pro
p
r
io
ce
p
tiv
e
s
en
s
o
r
s
(
in
ter
n
al
s
tate)
:
r
ea
d
v
alu
es
with
in
th
e
s
y
s
tem
(
r
o
b
o
t)
,
s
u
ch
as:
m
o
to
r
s
p
ee
d
,
b
atter
y
v
o
ltag
e,
wh
ee
l
p
o
s
itio
n
,
h
in
g
e
an
g
le
o
f
th
e
r
o
b
o
t
ar
m
an
d
s
o
o
n
,
s
u
ch
s
en
s
o
r
s
m
ig
h
t
b
e
co
m
p
ass
es,
p
o
ten
tio
m
eter
s
,
en
co
d
er
s
,
g
y
r
o
s
co
p
es
an
d
s
o
o
n
.
E
x
ter
o
ce
p
tiv
e
s
en
s
o
r
s
(
ex
ter
n
al
s
tate)
:
wer
e
u
tili
ze
d
f
o
r
ex
tr
ac
tin
g
in
f
o
r
m
atio
n
f
r
o
m
r
o
b
o
t'
s
en
v
ir
o
n
m
en
t.
So
m
e
ex
am
p
les
o
f
ex
ter
o
ce
p
tiv
e
s
en
s
o
r
s
;
d
is
tan
ce
m
ea
s
u
r
em
en
ts
,
s
o
u
n
d
am
p
litu
d
e,
an
d
lig
h
t
in
ten
s
ity
.
Pas
s
iv
e
s
en
s
o
r
s
m
ea
s
u
r
e
th
e
en
er
g
y
o
f
th
e
en
v
ir
o
n
m
en
t
en
ter
in
g
th
e
s
en
s
o
r
,
s
u
ch
as
m
icr
o
p
h
o
n
es,
to
u
ch
s
en
s
o
r
s
,
tem
p
er
atu
r
e
s
en
s
o
r
s
,
C
o
m
p
lem
en
tar
y
m
etal
o
x
id
e
s
em
ico
n
d
u
cto
r
(
C
MO
S)
ca
m
er
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u
ch
s
en
s
o
r
s
wer
e
ad
eq
u
ate
to
s
p
ec
if
ics
an
d
s
u
cc
ess
o
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[2
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[
6
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.
On
th
e
o
p
p
o
s
ite,
ac
tiv
e
s
en
s
o
r
s
ar
e
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r
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in
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s
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esp
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s
e.
Sin
ce
ac
tiv
e
s
en
s
o
r
s
h
av
e
th
e
ab
ilit
y
o
f
co
n
tr
o
llin
g
f
u
r
th
er
co
n
tr
o
lled
in
ter
ac
tio
n
s
with
en
v
ir
o
n
m
en
t,
th
en
th
ey
ar
e
f
r
eq
u
en
tly
wo
r
k
in
g
ex
ce
llen
tly
.
Ma
n
y
r
is
k
s
ar
e
s
h
o
wn
v
ia
ac
tiv
e
d
etec
tio
n
:
th
e
o
u
tp
u
t
en
er
g
y
m
ig
h
t
b
e
af
f
ec
tin
g
th
e
p
r
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er
ties
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e
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ea
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r
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th
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en
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o
r
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[
6
]
.
Yet,
ac
tiv
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r
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e
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in
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d
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o
o
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T
ab
le
1
s
h
o
ws
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if
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elate
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to
th
e
m
o
s
t
s
ig
n
if
ican
t
s
en
s
o
r
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s
ty
p
es
u
tili
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f
o
r
au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
[
2
]
.
Fig
u
r
e
2
.
Vital
m
o
d
u
les o
f
c
o
m
m
o
n
r
o
b
o
t
p
er
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p
tio
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y
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tem
T
ab
le
1
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tem
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icatio
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C
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S
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p
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F
u
n
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t
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o
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Ta
c
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O
p
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A
Th
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d
t
h
e
r
o
b
o
t
h
a
s
d
r
i
v
e
n
.
T
h
e
w
h
e
e
l
e
n
c
o
d
e
r
s
a
l
s
o
c
o
u
n
t
t
h
e
r
e
v
o
l
u
t
i
o
n
s
o
f
e
a
c
h
w
h
e
e
l
a
n
o
r
i
e
n
t
a
t
i
o
n
.
O
p
t
i
c
a
l
s
e
n
s
o
r
I
n
f
r
a
r
e
d
Li
d
a
r
Ep
,
A
Ep
,
A
Th
e
s
e
a
r
e
l
i
g
h
t
-
b
a
se
d
se
n
so
r
s
w
h
i
c
h
p
r
o
d
u
c
e
s
r
a
n
g
e
e
st
i
mat
e
b
a
s
e
d
o
n
t
h
e
t
i
m
e
n
e
e
d
e
d
f
o
r
t
h
e
l
i
g
h
t
t
o
r
e
a
c
h
t
h
e
t
a
r
g
e
t
r
e
t
u
r
n
.
H
e
a
d
i
n
g
se
n
so
r
G
y
r
o
sc
o
p
e
Pp
i
t
i
s
a
r
e
l
i
a
b
l
e
r
o
t
a
t
i
o
n
se
n
s
o
r
t
h
a
t
mea
s
u
r
e
s
a
n
g
u
l
a
r
v
e
l
o
c
i
t
i
e
s a
n
d
o
r
i
e
n
t
a
t
i
o
n
.
V
i
si
o
n
-
b
a
s
e
d
sen
s
o
r
s
C
C
D
/
C
M
O
S
C
a
mer
a
Ep
,
P
Th
e
s
e
se
n
so
r
s
o
f
f
e
r
a
v
a
s
t
s
u
m
o
f
i
n
f
o
r
mat
i
o
n
a
b
o
u
t
t
h
e
e
n
v
i
r
o
n
m
e
n
t
a
n
d
e
n
a
b
l
e
s
i
n
t
e
l
l
i
g
e
n
t
i
n
t
e
r
a
c
t
i
o
n
i
n
d
y
n
a
mi
c
e
n
v
i
r
o
n
m
e
n
t
s.
A
c
t
i
v
e
r
a
n
g
i
n
g
sen
s
o
r
s
U
l
t
r
a
s
o
n
i
c
La
ser ra
n
g
e
f
i
n
d
e
r
O
p
t
i
c
a
l
t
r
i
a
n
g
u
l
a
t
i
o
n
Ep
,
A
Ep
,
A
Ep
,
A
A
c
t
i
v
e
r
a
n
g
i
n
g
se
n
s
o
r
s
a
i
d
r
o
b
o
t
n
a
v
i
g
a
t
e
a
n
d
u
s
u
a
l
l
y
o
r
i
g
i
n
a
t
e
a
s
p
a
r
t
o
f
t
h
e
l
o
c
a
l
i
z
a
t
i
o
n
a
n
d
e
n
v
i
r
o
n
m
e
n
t
a
l
mo
d
e
l
l
i
n
g
.
T
h
e
y
a
r
e
d
e
v
i
c
e
s
t
h
a
t
g
e
n
e
r
a
t
e
s
h
i
g
h
l
y
p
r
e
c
i
se
d
i
s
t
a
n
c
e
me
a
s
u
r
e
me
n
t
b
e
t
w
e
e
n
se
n
s
o
r
a
n
d
t
a
r
g
e
t
.
W
h
e
r
e
,
A
i
s m
e
a
n
s a
c
t
i
v
e
;
P
i
s
me
a
n
s
p
a
ss
i
v
e
;
P
p
i
s m
e
a
n
s
p
r
o
p
r
i
o
c
e
p
t
i
v
e
;
Ep
i
s m
e
a
n
s
e
x
t
e
r
o
c
e
p
t
i
v
e
.
3.
L
O
CAL
I
Z
AT
I
O
N
SYS
T
E
M
I
n
r
ec
en
t
y
ea
r
s
,
s
y
s
tem
s
f
o
r
th
e
lo
ca
lizatio
n
an
d
f
o
r
m
atio
n
o
f
r
o
b
o
ts
h
av
e
b
ee
n
o
f
p
a
r
ticu
l
ar
in
ter
est
in
m
o
b
ile
r
o
b
o
ts
[
1
4
]
.
Fo
r
r
o
b
o
ts
to
m
o
v
e
ef
f
icien
tly
,
it
s
h
o
u
ld
h
av
e
th
e
ab
ilit
y
o
f
d
ete
r
m
i
n
in
g
its
p
o
s
itio
n
in
th
e
wo
r
k
p
lace
.
T
h
e
b
est
-
k
n
o
w
n
lo
ca
lizati
o
n
m
eth
o
d
is
th
e
g
l
o
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS).
I
n
th
e
ca
s
e
wh
en
ac
cu
r
ate
GPS
s
y
s
tem
m
ig
h
t
b
e
in
s
talled
o
n
r
o
b
o
ts
,
th
e
lo
ca
t
io
n
p
r
o
b
lem
m
ig
h
t
b
e
s
o
lv
e
d
.
Ho
wev
er
,
th
e
r
e
ar
e
s
o
m
e
lim
itatio
n
s
s
u
ch
as
h
ig
h
co
s
t,
p
o
wer
co
n
s
u
m
p
tio
n
,
a
n
d
lar
g
e
s
ize
th
at
m
ak
e
th
is
m
eth
o
d
d
if
f
icu
lt
to
u
s
e
r
eg
u
lar
ly
.
I
n
ad
d
itio
n
,
GPS
ca
n
n
o
t
b
e
u
s
ed
f
o
r
in
d
o
o
r
en
v
i
r
o
n
m
en
ts
o
r
in
o
b
s
tr
u
cted
ar
e
as
an
d
th
er
ef
o
r
e
b
e
lim
ited
in
th
ei
r
wo
r
k
s
p
ac
e,
an
d
f
u
r
th
er
s
u
ch
s
y
s
tem
is
n
o
t
c
u
r
r
en
tly
av
ailab
le
o
r
n
o
t
s
u
f
f
i
cien
tly
ac
cu
r
ate
to
wo
r
k
with
[
1
]
,
[
1
4
]
.
Glo
b
al
lo
ca
lizatio
n
,
alo
n
g
with
p
er
ce
p
tio
n
,
is
cu
r
r
e
n
tly
t
h
e
m
ai
n
p
r
er
eq
u
is
ite
f
o
r
n
av
ig
atin
g
an
d
co
n
tr
o
llin
g
m
o
b
ile
r
o
b
o
ts
.
I
n
th
e
ca
s
e
wh
en
ju
s
t
cu
r
r
e
n
t
s
en
s
o
r
d
ata
b
ased
o
n
p
r
ev
io
u
s
ly
lear
n
ed
m
ap
wer
e
u
tili
ze
d
,
th
e
lo
ca
tio
n
r
elate
d
to
m
o
b
ile
r
o
b
o
ts
m
ig
h
t
b
e
esti
m
atin
g
th
e
ac
cu
r
ate
p
o
s
itio
n
r
eg
ar
d
in
g
m
o
b
ile
r
o
b
o
ts
.
T
h
u
s
,
th
e
s
en
s
o
r
s
(
p
er
ce
p
tio
n
s
y
s
tem
)
wer
e
v
ital
in
lo
ca
lizatio
n
.
An
y
ac
cu
r
ac
y
o
r
s
en
s
itiv
ity
r
elate
d
to
th
e
s
en
s
o
r
af
f
ec
tin
g
t
h
e
r
o
b
o
t’
s
lo
ca
tio
n
[
1
5
]
.
Fig
u
r
e
3
s
h
o
ws
t
h
e
Ge
n
er
al
Sch
em
atic
f
o
r
m
o
b
ile
r
o
b
o
t lo
ca
lizatio
n
[
6
]
.
Fin
e
lo
ca
lizatio
n
is
u
s
ef
u
l
f
o
r
v
ar
i
o
u
s
task
s
lik
e
d
esti
n
atio
n
tr
ac
k
in
g
,
p
ath
p
lan
n
in
g
a
n
d
tr
a
f
f
ic
co
n
tr
o
l.
T
h
er
ef
o
r
e,
th
e
co
m
p
l
ex
p
ar
t
r
elate
d
to
lo
ca
lizatio
n
was
esti
m
atin
g
th
e
o
r
ien
tati
o
n
an
d
p
o
s
itio
n
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
8
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I
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&
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p
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Vo
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11
,
No
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Dec
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r
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r
o
b
o
ts
th
at
m
ig
h
t
b
e
u
tili
ze
d
f
o
r
o
b
tain
in
g
in
f
o
r
m
atio
n
f
r
o
m
th
e
s
en
s
o
r
s
as
we
ll
as
o
th
er
s
y
s
tem
s
.
I
n
an
y
ca
s
e,
co
n
tr
o
l
s
y
s
tem
s
ar
e
also
p
lay
i
n
g
a
r
o
le.
I
n
th
e
ca
s
e
wh
en
r
o
b
o
ts
wan
t
to
r
e
ac
h
a
s
p
ec
if
ic
p
lace
,
it
r
eq
u
ir
es
a
m
o
d
el
o
r
a
m
ap
r
elate
d
to
th
e
s
u
r
r
o
u
n
d
i
n
g
s
,
th
u
s
it
m
ig
h
t
b
e
p
lan
n
in
g
its
way
to
a
d
esti
n
atio
n
,
in
d
icatin
g
th
at
lo
ca
lizatio
n
was
o
n
e
o
f
t
h
e
b
r
o
ad
p
r
o
b
lem
s
wh
ich
in
v
o
lv
es
n
o
t
ju
s
t
ev
alu
atin
g
t
h
e
ab
s
o
lu
t
e
p
o
s
itio
n
o
f
r
o
b
o
ts
o
n
ea
r
th
,
y
et
also
cr
ea
te
a
m
ap
an
d
d
eter
m
in
e
th
e
p
o
s
itio
n
o
f
r
o
b
o
t r
elat
iv
e
to
th
e
m
a
p
[
1
]
,
[
2
]
,
[
1
5
]
.
T
o
tack
le
s
u
ch
p
r
o
b
lem
s
,
t
h
e
lo
ca
lizatio
n
a
p
p
r
o
ac
h
es
wer
e
d
iv
id
ed
in
to
two
ca
te
g
o
r
ies
f
o
r
d
eter
m
in
in
g
t
h
e
p
o
s
e
o
f
r
o
b
o
ts
:
ab
s
o
lu
te
an
d
r
elativ
e
l
o
ca
lizatio
n
ap
p
r
o
ac
h
es.
I
n
r
elativ
e
lo
ca
lizatio
n
ap
p
r
o
ac
h
es
m
ea
s
u
r
in
g
th
e
o
r
i
en
t
atio
n
an
d
p
o
s
itio
n
o
f
m
o
v
i
n
g
r
o
b
o
ts
th
r
o
u
g
h
co
m
b
in
in
g
d
ata
f
r
o
m
v
ar
io
u
s
s
en
s
o
r
s
.
I
n
ad
d
itio
n
,
th
e
in
te
g
r
atio
n
s
tar
ts
f
r
o
m
in
itial
p
o
s
e
e.
g
.
,
P
0
=
[
0
,
0
,
0
]
,
a
n
d
is
u
p
d
ated
r
eg
u
lar
l
y
o
v
e
r
tim
e
wh
en
t
h
e
r
o
b
o
t
is
m
o
v
in
g
.
W
h
ile
in
ab
s
o
lu
te
lo
ca
li
za
tio
n
tech
n
i
q
u
es;
in
s
tead
o
f
tr
ac
k
in
g
th
e
p
o
s
e
in
cr
em
en
tally
,
a
m
o
b
ile
r
o
b
o
t
m
ig
h
t
b
e
s
ea
r
ch
in
g
f
o
r
its
lo
c
atio
n
d
ir
ec
tly
f
r
o
m
its
en
v
i
r
o
n
m
en
t
o
r
ass
u
m
ab
le
ex
ac
t
m
ap
o
r
a
k
n
o
wn
a
r
ea
.
Usu
ally
,
s
u
ch
tech
n
iq
u
es
a
r
e
b
ased
o
n
m
a
p
s
im
ilar
ity
,
p
ass
iv
e
o
r
ac
tiv
e
lan
d
m
ar
k
s
an
d
n
av
i
g
atio
n
b
ea
co
n
s
[
1
6
]
.
On
th
e
o
th
er
h
a
n
d
,
th
er
e
is
a
lo
t
o
f
r
esear
ch
b
ein
g
d
o
n
e
r
e
g
ar
d
i
n
g
th
e
lo
ca
lizatio
n
o
f
a
m
o
b
ile
r
o
b
o
t in
d
o
o
r
s
an
d
o
u
td
o
o
r
s
.
E
x
te
n
s
iv
e
g
lo
b
al
in
d
o
o
r
l
o
ca
lizatio
n
s
tu
d
ies
wer
e
ca
r
r
ied
o
u
t,
wh
ich
m
ig
h
t
b
e
d
iv
id
e
d
in
to
th
r
ee
ca
teg
o
r
ies
f
r
o
m
s
en
s
o
r
v
iewp
o
i
n
t:
v
is
io
n
-
b
ased
lo
ca
lizatio
n
,
laser
-
b
ased
lo
ca
lizatio
n
,
an
d
wir
eless
lo
ca
l a
r
ea
n
etwo
r
k
(
W
L
AN)
b
ased
lo
ca
lizatio
n
.
W
L
AN
b
ased
lo
ca
lizatio
n
is
im
p
lem
en
tin
g
th
e
p
r
o
ce
s
s
o
f
lo
ca
lizatio
n
v
ia
co
m
b
in
in
g
s
ig
n
al
p
r
o
p
ag
atio
n
m
o
d
el
an
d
ex
p
er
ien
c
e
test
b
ased
o
n
in
f
o
r
m
atio
n
f
r
o
m
ea
ch
o
n
e
o
f
th
e
n
etwo
r
k
n
o
d
es.
On
th
e
co
n
tr
ar
y
,
laser
-
b
ased
lo
ca
lizatio
n
was
m
o
r
e
r
o
b
u
s
t,
wh
er
e
B
ay
esian
f
ilter
in
g
was
u
tili
ze
d
f
o
r
co
n
v
er
tin
g
m
o
b
ile
r
o
b
o
t’
s
lo
ca
lizatio
n
in
to
a
p
r
o
b
lem
o
f
ev
alu
atin
g
th
e
p
r
o
b
ab
ilit
y
d
is
tr
ib
u
tio
n
b
ased
o
n
g
r
id
m
ap
s
.
I
n
ter
m
s
o
f
v
is
io
n
-
b
ased
lo
ca
lizatio
n
,
im
ag
es
m
ig
h
t b
e
p
r
o
v
id
in
g
th
o
r
o
u
g
h
v
is
u
al
in
f
o
r
m
atio
n
lik
e
co
lo
r
tex
tu
r
es
an
d
g
eo
m
etr
ic
elem
en
ts
.
Als
o
,
v
is
io
n
-
b
ased
lo
ca
lizatio
n
was m
ajo
r
ly
u
tili
ze
d
f
o
r
in
d
o
o
r
lo
ca
lizatio
n
d
u
e
to
its
ea
s
e
o
f
u
s
e
an
d
lo
w
co
s
ts
[
1
5
]
.
W
h
ile,
in
o
u
td
o
o
r
s
h
av
e
ir
r
eg
u
lar
s
h
ap
es
an
d
v
ar
iatio
n
s
o
n
g
eo
m
etr
y
an
d
lig
h
tin
g
d
u
e
to
wea
th
er
co
n
d
itio
n
s
.
As
a
r
esu
lt,
en
v
ir
o
n
m
en
tal
in
s
ec
u
r
ity
is
r
elativ
ely
h
ig
h
.
T
h
er
e
ar
e
m
an
y
co
m
p
lex
s
tu
d
ies
f
o
r
au
to
n
o
m
o
u
s
n
av
ig
atio
n
o
f
m
o
b
ile
r
o
b
o
t
in
o
u
td
o
o
r
[
1
7
]
,
f
o
r
ex
am
p
le:
a
co
m
b
in
atio
n
r
elate
d
to
GPS
an
d
I
MU
[
1
8
]
,
o
d
o
m
etr
y
cu
r
b
f
u
n
ctio
n
s
an
d
in
f
o
r
m
atio
n
o
n
th
e
d
if
f
er
en
tial
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
DGPS)
[
1
7
]
,
VI
Z
AR
D
[
1
9
]
an
d
f
aster
r
eg
io
n
al
co
n
v
o
lu
tio
n
al
n
eu
r
al
n
etwo
r
k
(
f
aster
R
-
C
NN
)
[
2
0
]
.
Fin
ally
,
r
ep
r
esen
tatio
n
was
o
n
e
o
f
th
e
f
u
n
d
am
en
tal
p
r
o
b
lem
s
f
o
r
m
ap
-
b
ased
lo
ca
lizatio
n
s
y
s
tem
.
Ov
er
th
e
y
ea
r
s
,
v
ar
io
u
s
m
ap
p
r
esen
tatio
n
ap
p
r
o
ac
h
es we
r
e
d
esig
n
ed
in
liter
atu
r
e
wh
ich
wer
e
u
tili
ze
d
in
r
o
u
te
p
lan
n
in
g
.
Ho
wev
er
,
th
e
r
esear
ch
is
s
till
o
n
g
o
in
g
.
T
h
e
m
ain
f
ea
tu
r
es
o
f
th
e
r
ea
l
-
wo
r
ld
ar
e
p
o
o
r
ly
r
ep
r
esen
ted
o
n
wo
r
ld
m
ap
s
b
ec
au
s
e
th
e
r
ea
l
-
wo
r
ld
is
d
y
n
am
ic
an
d
r
ea
l
o
b
s
tacle
s
m
ig
h
t
m
o
v
e.
T
h
er
ef
o
r
e,
m
eth
o
d
s
ar
e
r
eq
u
ir
ed
f
o
r
id
en
tify
in
g
an
d
d
is
tin
g
u
is
h
in
g
m
o
v
in
g
,
s
tatic
an
d
p
er
m
an
en
t o
b
s
tacle
s
[
1
]
,
[
6
]
,
[
14
]
,
[
16]
.
3
.
1
.
M
a
p
re
presenta
t
io
n
T
h
er
e
is
a
h
ig
h
im
p
o
r
tan
ce
in
in
d
icatin
g
th
at
th
e
m
ap
r
ep
r
esen
tatio
n
is
in
f
lu
en
cin
g
th
e
co
m
p
u
tatio
n
al
co
m
p
lex
ity
r
elate
d
to
r
ea
s
o
n
in
g
ab
o
u
t
m
ap
p
in
g
,
n
av
ig
atio
n
,
an
d
lo
ca
lizatio
n
.
T
h
e
r
o
b
o
t
m
u
s
t
r
ep
r
esen
t
two
s
p
ec
if
ic
co
n
ce
p
ts
:
a
r
ep
r
esen
tatio
n
(
m
o
d
el)
o
f
an
en
v
ir
o
n
m
en
t
o
r
a
m
ap
as
well
as
asp
ec
ts
r
eg
ar
d
in
g
en
v
ir
o
n
m
en
t
co
n
tain
ed
in
th
e
m
ap
.
T
h
e
ac
cu
r
ac
y
o
f
th
e
p
o
s
itio
n
d
is
p
lay
is
o
f
ten
lim
ited
b
y
th
e
ac
cu
r
ac
y
o
f
th
e
m
ap
d
is
p
lay
.
I
n
an
y
ca
s
e,
wh
en
s
elec
tin
g
a
p
a
r
ticu
lar
m
ap
r
ep
r
esen
tatio
n
,
th
r
ee
b
asic
r
elatio
n
s
h
ip
s
m
u
s
t
b
e
u
n
d
er
s
to
o
d
[
6
]
,
[
1
6
]
:
−
T
h
e
m
ap
’
s
ac
cu
r
ac
y
s
h
o
u
ld
b
e
m
atch
ed
b
y
th
e
ac
cu
r
ac
y
with
wh
ich
r
o
b
o
ts
s
h
o
u
ld
b
e
ac
h
iev
e
th
eir
task
s
.
−
T
h
e
m
ap
’
s
ac
cu
r
ac
y
an
d
th
e
ty
p
e
o
f
o
b
jects d
is
p
lay
ed
s
h
o
u
ld
b
e
m
atch
e
d
b
y
th
e
ty
p
e
an
d
ac
cu
r
ac
y
o
f
d
ata
r
etu
r
n
ed
v
ia
th
e
s
en
s
o
r
s
o
f
th
e
r
o
b
o
t.
−
T
h
e
m
ap
’
s
r
ep
r
esen
tatio
n
co
m
p
lex
ity
h
as
d
ir
ec
t
ef
f
ec
t
o
n
th
e
co
m
p
u
tatio
n
al
co
m
p
lex
ity
th
at
is
r
elate
d
to
th
e
co
n
s
id
er
atio
n
s
f
o
r
n
av
ig
atio
n
,
lo
ca
lizatio
n
,
an
d
m
ap
p
in
g
.
I
n
all
ca
s
es,
t
h
e
m
ap
s
m
ig
h
t
b
e
in
tellig
en
tly
r
ep
r
esen
tin
g
th
e
o
b
ject’
s
p
h
y
s
ical
lo
ca
tio
n
with
n
o
r
ef
er
en
ce
to
th
eir
elasticity
,
co
lo
r
,
tex
tu
r
e,
o
r
an
y
co
m
p
ar
ab
le
s
ec
o
n
d
ar
y
p
r
o
p
er
ty
wh
ich
is
n
o
t
d
ir
ec
tly
ass
o
ciate
d
to
s
p
ac
e
an
d
p
o
s
itio
n
.
Fo
r
th
ese
r
ea
s
o
n
s
,
r
o
b
o
ts
ar
e
r
eq
u
ir
in
g
n
o
n
v
is
u
al
r
ep
r
esen
tatio
n
r
elate
d
to
th
e
m
ap
wh
ich
it
m
ig
h
t
s
to
r
e
in
its
m
em
o
r
y
.
Als
o
,
th
er
e
wer
e
two
ap
p
r
o
ac
h
es
o
f
s
to
r
in
g
m
ap
s
:
d
is
cr
ete
m
ap
s
(
g
r
id
m
ap
s
)
an
d
co
n
tin
u
o
u
s
m
ap
s
[
2
1
]
.
A
g
o
o
d
ex
am
p
le
is
a
co
n
tin
u
o
u
s
lin
e
-
b
ased
.
W
h
er
ein
a
co
n
tin
u
o
u
s
m
ap
v
iew
in
clu
d
es
a
s
et
o
f
in
f
in
ite
o
r
f
in
ite
lin
es
ap
p
r
o
x
im
atin
g
r
ea
l
-
wo
r
ld
en
v
ir
o
n
m
en
tal
lin
es
b
ased
o
n
a
2
-
D
s
lice
o
f
th
e
wo
r
ld
.
No
te
th
at
th
e
o
n
ly
en
v
ir
o
n
m
en
tal
o
b
jects
th
at
ap
p
ea
r
o
n
th
e
m
ap
ar
e
s
tr
aig
h
t
lin
es,
f
o
r
ex
am
p
le
alo
n
g
walls
an
d
at
co
r
n
er
s
.
T
h
is
is
n
o
t
ju
s
t
a
s
am
p
lin
g
r
elate
d
to
r
ich
est
elem
en
ts
o
f
r
ea
l
-
wo
r
ld
,
y
et
also
a
s
im
p
lific
atio
n
,
as
th
e
r
ea
l
wall
m
ig
h
t
h
av
e
tex
tu
r
e
an
d
r
elief
wh
ich
is
n
o
t
r
ef
lecte
d
in
d
r
awn
lin
e.
Mo
r
eo
v
er
,
a
p
r
ac
tical
im
p
lem
en
ted
ab
o
u
t
lin
e
f
o
llo
wer
r
o
b
o
t
ca
n
b
e
f
o
u
n
d
in
[
2
2
]
.
Fu
r
th
er
m
o
r
e,
f
o
r
s
im
p
licity
,
th
e
m
ap
v
iew
ca
n
also
b
e
m
in
im
ized
b
y
g
en
er
al
d
ec
o
m
p
o
s
itio
n
.
L
ik
e
ex
ac
t
ce
ll
d
ec
o
m
p
o
s
itio
n
.
T
h
is
m
eth
o
d
was
d
ev
elo
p
ed
to
m
in
im
ize
th
e
am
o
u
n
t
o
f
ex
ce
s
s
len
g
th
wis
e
m
o
v
em
en
t
b
y
co
m
b
in
in
g
n
ar
r
o
w
ce
lls
in
to
o
n
e
ce
ll.
T
h
is
m
eth
o
d
p
r
o
v
id
es
a
d
ec
o
m
p
o
s
itio
n
v
ia
s
elec
tin
g
b
o
u
n
d
ar
ies
b
etwe
en
d
is
cr
ete
ce
lls
b
ased
o
n
g
eo
m
etr
ic
cr
iticality
.
T
h
e
r
o
b
o
t’
s
ca
p
ab
ilit
y
f
o
r
m
o
v
in
g
f
r
o
m
an
y
ar
ea
o
f
f
r
ee
s
p
ac
e
to
ad
jace
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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h
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iew
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ig
h
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b
e
v
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m
p
ac
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in
ce
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f
ic
ien
tly
s
to
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ed
as
s
ep
ar
ate
n
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wh
ile
th
e
m
ajo
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ass
u
m
p
tio
n
b
eh
in
d
s
u
ch
d
ec
o
m
p
o
s
itio
n
is
th
at
th
e
r
o
b
o
t’
s
p
r
ec
is
e
p
o
s
itio
n
in
an
y
f
r
ee
s
p
ac
e
r
eg
io
n
s
is
ir
r
elev
an
t,
m
o
r
e
d
etail
ab
o
u
t
ex
ac
t c
ell
d
ec
o
m
p
o
s
itio
n
ca
n
b
e
f
o
u
n
d
in
liter
atu
r
e
[
6
]
,
[
2
3
]
.
T
h
e
ex
ac
t
de
co
m
p
o
s
itio
n
d
ep
en
d
s
o
n
th
e
s
p
ec
if
ic
o
b
s
tacle
s
r
eg
ar
d
in
g
f
r
ee
s
p
ac
e
an
d
en
v
ir
o
n
m
en
t.
I
n
th
e
ca
s
e
wh
en
it
was e
x
p
en
s
iv
e
o
r
an
o
n
y
m
o
u
s
f
o
r
co
llectin
g
s
u
ch
in
f
o
r
m
atio
n
,
th
is
ap
p
r
o
ac
h
n
o
t f
ea
s
ib
le.
T
h
er
ef
o
r
e,
th
e
ex
ac
t
d
ec
o
m
p
o
s
itio
n
is
n
o
t
o
f
ten
s
u
itab
le.
An
o
th
e
r
o
p
tio
n
was
f
ix
ed
d
ec
o
m
p
o
s
itio
n
(
ap
p
r
o
x
im
ate
d
ec
o
m
p
o
s
itio
n
o
f
ce
lls
)
,
in
wh
ich
th
e
co
n
tin
u
o
u
s
r
ea
l
en
v
ir
o
n
m
en
t
is
co
n
v
er
ted
in
to
d
is
cr
ete
ap
p
r
o
x
im
atio
n
f
o
r
th
e
m
ap
.
E
ac
h
ce
ll
was
ass
ig
n
ed
a
v
alu
e
th
at
r
ef
er
s
to
th
e
lik
elih
o
o
d
th
at
th
e
ce
ll
will
b
e
o
cc
u
p
ie
d
.
A
th
r
esh
o
ld
ca
n
th
en
b
e
ap
p
lied
to
th
e
o
cc
u
p
an
cy
g
r
id
to
d
ef
in
e
th
e
m
in
im
u
m
r
eq
u
ir
ed
p
r
o
b
ab
ilit
y
th
at
a
ce
ll is
o
cc
u
p
ied
in
[
2
4
]
.
Fix
ed
ex
p
an
s
io
n
s
h
o
ws
wh
at
o
cc
u
r
s
to
f
r
ee
ar
ea
s
an
d
o
b
s
tacle
s
th
r
o
u
g
h
o
u
t
s
u
ch
tr
an
s
f
o
r
m
atio
n
.
Per
h
ap
s
th
e
m
o
s
t
wid
ely
u
s
ed
an
d
p
o
p
u
lar
m
ap
d
is
p
lay
m
eth
o
d
in
m
o
b
ile
r
o
b
o
tics
is
f
ix
ed
d
ec
o
m
p
o
s
itio
n
.
I
t
is
u
s
ef
u
l
b
u
t
in
co
m
p
lete
d
u
e
to
its
im
p
r
ec
is
e
n
atu
r
e.
W
ith
th
is
ch
an
g
e,
it
ca
n
lo
s
e
n
ar
r
o
w
p
ass
ag
es.
An
o
th
er
ap
p
r
o
ac
h
is
ad
ap
tiv
e
ce
ll
d
ec
o
m
p
o
s
itio
n
,
also
k
n
o
wn
as
th
e
o
cc
u
p
an
cy
g
r
id
r
ep
r
esen
tatio
n
.
I
t
is
a
p
o
wer
f
u
l
m
eth
o
d
o
lo
g
y
o
f
s
o
lv
in
g
p
h
y
s
ical
s
y
s
tem
s
b
ased
o
n
p
ar
tial
d
if
f
er
en
tial
eq
u
atio
n
s
.
Su
ch
tech
n
iq
u
es
o
f
f
er
a
s
ig
n
if
ican
t
r
ed
u
ctio
n
in
co
m
p
u
tatio
n
an
d
d
is
cr
etiza
tio
n
tim
es,
f
o
r
d
etail
s
ee
[
2
5
]
.
I
n
wh
ich
th
e
en
v
ir
o
n
m
en
t
was s
p
ec
if
ied
v
ia
d
is
cr
ete
g
r
id
,
s
u
ch
tech
n
iq
u
e
is
o
f
s
p
ec
if
ic
v
alu
e
in
th
e
ca
s
e
wh
en
th
e
r
o
b
o
t
is
eq
u
ip
p
ed
with
d
is
tan
ce
-
b
ased
s
en
s
o
r
,
s
in
ce
d
is
tan
ce
v
alu
es
r
eg
ar
d
in
g
ea
ch
o
n
e
o
f
th
e
s
en
s
o
r
s
co
m
b
in
ed
with
r
o
b
o
t’
s
ab
s
o
lu
te
p
o
s
itio
n
m
ig
h
t
b
e
d
ir
ec
tly
u
tili
ze
d
f
o
r
u
p
d
atin
g
em
p
ty
o
r
f
illed
v
alu
e
r
eg
ar
d
in
g
ea
ch
o
n
e
o
f
th
e
ce
lls
.
Fig
u
r
e
4
s
h
o
ws
all
m
ap
r
ep
r
esen
tatio
n
m
eth
o
d
s
.
Pro
b
ab
ilis
tic
m
eth
o
d
s
ar
e
d
if
f
er
in
g
s
in
ce
th
ey
ar
e
ex
p
licitly
id
en
tify
in
g
p
r
o
b
ab
ilit
ies with
p
o
s
s
ib
le
r
o
b
o
t
p
o
s
itio
n
s
.
T
h
er
ef
o
r
e,
th
e
r
ec
en
t
s
t
u
d
y
is
f
o
cu
s
in
g
o
n
p
r
o
b
ab
ilis
tic
lo
ca
lizatio
n
ap
p
r
o
ac
h
es
[
2
6
]
.
A
s
et
o
f
m
eth
o
d
o
lo
g
ies
h
av
e
b
ee
n
p
r
o
p
o
s
ed
as
f
o
llo
ws:
k
alm
an
f
ilter
lo
ca
lizatio
n
,
m
ar
k
o
v
lo
ca
lizatio
n
,
Mo
n
te
C
ar
lo
lo
ca
lizatio
n
,
r
o
u
te
-
b
ased
lo
ca
lizatio
n
,
p
o
s
itio
n
in
g
b
ea
co
n
s
y
s
tem
s
,
g
lo
b
ally
u
n
iq
u
e
lo
ca
lizatio
n
,
lan
d
m
ar
k
-
b
ased
n
av
ig
atio
n
,
th
e
s
to
ch
asti
c
m
ap
tech
n
iq
u
e,
au
to
n
o
m
o
u
s
m
ap
b
u
ild
in
g
,
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
,
an
d
cy
clic
en
v
ir
o
n
m
en
ts
.
T
h
e
tech
n
iq
u
es
an
d
alg
o
r
ith
m
s
wer
e
th
o
r
o
u
g
h
ly
ex
am
in
ed
ar
e
p
r
o
p
o
s
ed
in
[
6
]
,
[
24
]
-
[
2
6
]
.
Fig
u
r
e
3
.
Gen
e
r
al
s
ch
em
atic
f
o
r
m
o
b
ile
r
o
b
o
t lo
ca
lizatio
n
[
6
]
Fig
u
r
e
4
.
Ma
p
r
ep
r
esen
tatio
n
t
ec
h
n
iq
u
es (
c
o
n
tin
u
o
u
s
lin
e
-
b
a
s
e,
ex
ac
t c
ell
d
ec
o
m
p
o
s
itio
n
,
a
p
p
r
o
x
im
ate
ce
ll
d
ec
o
m
p
o
s
itio
n
an
d
a
d
ap
tiv
e
c
ell
d
ec
o
m
p
o
s
itio
n
)
r
esp
ec
tiv
el
y
[
6
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
6
,
Dec
em
b
e
r
2
0
2
1
:
4
8
9
1
-
4
9
0
6
4896
4.
CO
G
NIT
I
O
N,
P
A
T
H
,
T
RA
J
E
CT
O
RY
T
RACK
I
NG
,
AND
M
O
T
I
O
N
P
L
AN
NING
I
n
co
m
m
o
n
,
r
o
b
o
t’
s
co
g
n
itiv
e
d
esig
n
s
h
o
u
ld
b
e
p
lan
n
in
g
th
e
p
ath
wh
ich
m
u
s
t b
e
tak
in
g
v
ia
th
e
r
o
b
o
t
f
o
r
r
ea
lizin
g
th
e
d
esti
n
atio
n
.
I
n
th
is
m
an
n
er
,
th
e
r
o
b
o
t’
s
co
g
n
itiv
e
lev
el
is
d
ec
is
io
n
m
ak
in
g
as
well
as
th
e
ex
ec
u
ti
o
n
p
ar
t
wh
ich
is
u
s
ed
b
y
th
e
r
o
b
o
t
f
o
r
r
ea
lizin
g
h
ig
h
lev
el
g
o
als
with
n
o
co
llap
s
e
o
r
co
llid
e
with
o
b
s
tacle
s
av
ailab
le
in
its
way
o
r
en
v
ir
o
n
m
en
t
[
2
7
]
.
Mo
r
eo
v
er
,
th
e
ca
p
ac
ity
o
f
th
e
r
o
b
o
t
to
ac
t
b
ased
o
n
its
in
f
o
r
m
atio
n
an
d
th
e
d
ata
f
r
o
m
th
e
s
en
s
o
r
s
f
o
r
r
ea
ch
in
g
its
g
o
al
p
o
s
itio
n
s
as
r
eliab
ly
an
d
ef
f
ec
tiv
ely
as
p
o
s
s
ib
le
[
2
8
]
.
Path
p
lan
n
in
g
g
en
er
ally
r
ep
r
esen
ts
d
ec
id
in
g
co
llis
io
n
f
r
ee
p
ath
s
f
r
o
m
its
b
eg
in
n
in
g
co
n
f
ig
u
r
atio
n
to
th
e
u
ltima
te
co
n
f
ig
u
r
atio
n
o
p
tim
izin
g
ex
ec
u
tio
n
m
o
d
el
lik
e
en
er
g
y
,
tim
e,
o
r
d
is
tan
ce
.
T
h
e
latter
is
co
n
s
id
er
ed
as
th
e
m
ajo
r
u
s
ed
cr
iter
io
n
[
4
]
.
Als
o
,
th
e
o
p
tim
al
o
r
s
h
o
r
ter
way
b
etwe
en
two
f
o
cu
s
es
m
ig
h
t
b
e
to
o
p
tim
ize
o
r
m
in
im
izes
th
e
am
o
u
n
t
o
f
b
r
ak
in
g
an
d
th
e
am
o
u
n
t
o
f
tu
r
n
in
g
.
An
ex
tr
a
th
o
r
o
u
g
h
r
esear
ch
,
with
b
r
o
ad
er
o
b
jectiv
e
was
tr
aje
cto
r
y
p
lan
n
in
g
,
wh
ich
in
clu
d
es
s
p
ec
if
y
in
g
th
e
en
er
g
y
in
p
u
ts
f
o
r
m
o
v
in
g
th
e
ac
tu
ato
r
s
,
th
u
s
th
e
r
o
b
o
t
is
f
o
llo
win
g
a
p
ath
allo
win
g
it
to
m
o
v
e
f
r
o
m
in
itial
co
n
f
ig
u
r
atio
n
s
to
f
in
al
co
n
f
ig
u
r
atio
n
s
wh
er
ea
s
av
o
id
in
g
o
b
s
tacle
s
.
I
t
co
n
s
id
er
s
th
e
p
h
y
s
ical
ch
ar
ac
ter
is
tics
an
d
d
y
n
am
ics
o
f
th
e
r
o
b
o
t
wh
en
p
lan
n
in
g
tr
ajec
to
r
y
.
As
a
r
u
le,
th
e
p
lan
n
in
g
o
f
tr
ajec
to
r
ies
an
d
tr
ajec
to
r
ies
wer
e
p
ar
t
o
f
f
u
r
th
er
co
m
p
lete
co
n
ce
p
t:
m
o
tio
n
p
lan
n
in
g
[
4
]
,
[
2
7
]
.
Su
ch
as
L
u
tv
ica
et
a
l.
[
2
9
]
p
r
o
p
o
s
ed
b
o
th
p
ath
p
lan
n
in
g
an
d
tr
ajec
to
r
y
ex
e
cu
tio
n
with
in
an
in
d
o
o
r
m
az
e
en
v
ir
o
n
m
en
t.
I
n
ad
d
itio
n
to
th
at,
th
e
m
ain
task
s
ar
e
r
eq
u
ir
ed
to
n
av
ig
ate
a
m
o
b
ile
r
o
b
o
t.
First
task
,
p
ath
,
o
r
tr
ajec
to
r
y
p
lan
n
in
g
:
th
is
is
s
tr
ateg
ic
p
r
o
b
lem
-
s
o
lv
in
g
s
k
ill
s
in
ce
th
e
r
o
b
o
t
m
u
s
t
d
ec
id
e
wh
at
to
d
o
in
th
e
lo
n
g
r
u
n
f
o
r
ac
h
iev
in
g
its
g
o
als,
wh
er
ea
s
th
e
s
ec
o
n
d
task
,
av
o
id
in
g
o
b
s
tacle
s
:
m
ea
n
s
ch
an
g
in
g
th
e
r
o
b
o
t'
s
tr
ajec
to
r
y
to
av
o
id
co
llis
io
n
s
.
Av
o
id
in
g
o
b
s
tacle
s
is
an
im
p
o
r
tan
t
ch
allen
g
e
in
r
o
b
o
tics
s
in
ce
it
is
s
ig
n
if
ican
t
th
at
m
o
b
ile
r
o
b
o
ts
r
ea
ch
in
g
its
d
esti
n
atio
n
wi
th
n
o
co
llis
io
n
o
r
o
b
s
tacle
in
its
p
ath
.
A
co
llis
io
n
f
r
ee
alg
o
r
ith
m
is
v
ital
f
o
r
au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
.
T
h
er
ef
o
r
e,
a
lo
t
o
f
tech
n
iq
u
es
wer
e
in
d
icate
d
f
o
r
o
b
s
tacle
av
o
id
an
ce
[4
]
,
[
6
]
,
[
2
7
]
.
T
h
e
n
ex
t su
b
s
ec
tio
n
is
f
o
r
m
o
r
e
in
f
o
r
m
atio
n
ab
o
u
t a
v
o
id
in
g
o
b
s
ta
cles.
I
n
r
ec
en
t
y
ea
r
s
,
s
ev
er
al
m
eth
o
d
s
h
av
e
b
ee
n
d
ev
elo
p
ed
th
at
tr
y
to
s
o
lv
e
th
e
p
r
o
b
lem
o
f
m
o
tio
n
p
lan
n
in
g
o
f
m
o
b
ile
r
o
b
o
ts
.
T
h
er
e
ar
e
d
if
f
er
en
t
ca
teg
o
r
ies
o
f
p
lan
n
in
g
m
eth
o
d
s
wh
ich
ca
n
b
e
d
iv
id
ed
in
to
d
if
f
er
en
t
ty
p
es
d
ep
en
d
in
g
o
n
th
e
en
v
ir
o
n
m
en
t
in
wh
ich
th
e
r
o
b
o
t
is
lo
ca
ted
,
wh
ich
ar
e:
lo
ca
l
p
ath
p
lan
n
in
g
an
d
g
lo
b
al
p
ath
p
lan
n
in
g
[
2
7
]
.
W
h
ile
o
th
er
au
th
o
r
s
,
d
is
tin
g
u
is
h
b
etwe
en
o
f
f
-
lin
e
an
d
o
n
-
lin
e,
b
ased
o
n
th
e
av
ailab
ilit
y
o
f
en
v
ir
o
n
m
en
tal
in
f
o
r
m
atio
n
o
r
o
n
th
e
co
m
p
u
ter
’
s
p
o
wer
o
r
th
e
ca
p
ab
ilit
y
f
o
r
s
o
lv
in
g
th
e
m
ajo
r
d
em
an
d
in
g
alg
o
r
ith
m
[
1
]
,
[
4
]
.
At
an
y
ca
s
e,
th
e
two
ap
p
r
o
ac
h
es
ar
e
s
im
ilar
.
Fig
u
r
e
5
s
h
o
ws
th
e
class
if
icatio
n
s
r
elate
d
to
m
o
b
ile
r
o
b
o
t p
ath
p
lan
n
in
g
ap
p
r
o
ac
h
es [
2
]
.
Fig
u
r
e
5
.
C
lass
if
icatio
n
s
o
f
m
o
b
ile
r
o
b
o
t p
ath
p
lan
n
in
g
tech
n
iq
u
es [
2
]
−
Of
f
-
lin
e
p
ath
p
lan
n
in
g
o
r
g
lo
b
al
p
ath
p
lan
n
in
g
:
T
h
is
m
eth
o
d
ca
n
b
e
u
s
ed
in
ar
ea
s
wh
er
e
th
er
e
is
co
m
p
lete
in
f
o
r
m
atio
n
o
n
s
tatic
o
b
s
tacle
s
an
d
m
o
v
em
en
t
o
b
s
tacle
s
.
T
h
u
s
,
th
is
p
ath
cr
ea
tes
a
co
m
p
lete
p
ath
f
r
o
m
its
s
tar
tin
g
p
o
in
t
to
its
d
esti
n
atio
n
b
ef
o
r
e
th
e
m
o
v
in
g
r
o
b
o
t
b
eg
in
s
its
m
o
tio
n
.
E
x
am
p
les
o
f
r
o
u
te
p
lan
n
in
g
in
o
f
f
-
lin
e,
s
er
v
ice
r
o
b
o
ts
,
au
to
m
atic
g
u
id
ed
v
eh
icles,
an
d
s
o
o
n
,
in
wh
ich
th
er
e
m
ig
h
t b
e
n
o
ch
an
g
es to
ca
p
tu
r
ed
en
v
ir
o
n
m
en
t m
ap
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8
7
0
8
A
o
n
e
d
ec
a
d
e
s
u
r
ve
y
o
f
a
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
t sys
tems
(
N
o
o
r
A
b
d
u
l Kh
a
leq
Zg
h
a
ir
)
4897
−
L
o
ca
l
p
ath
p
lan
n
in
g
o
r
o
n
-
lin
e
p
ath
p
lan
n
in
g
:
T
h
is
m
eth
o
d
is
u
s
ed
w
h
er
e
th
e
en
v
ir
o
n
m
en
t
is
co
m
p
letely
u
n
k
n
o
wn
,
wh
er
e
r
o
u
tes
ar
e
p
lan
n
ed
,
an
d
th
e
r
o
b
o
t
is
m
o
v
in
g
.
I
n
th
is
alg
o
r
ith
m
th
e
p
ath
ch
an
g
es
as
it
m
o
v
es
in
r
elatio
n
to
ch
an
g
es
in
th
e
en
v
ir
o
n
m
en
t
b
ased
o
n
in
f
o
r
m
atio
n
th
r
o
u
g
h
s
en
s
o
r
s
.
B
asically
,
o
n
-
lin
e
p
lan
n
in
g
b
eg
in
s
its
o
f
f
lin
e
p
ath
,
y
et
ch
an
g
e
to
o
n
-
lin
e
m
o
d
e
wh
en
d
etec
tin
g
n
ew
ch
an
g
es
in
o
b
s
tacle
s
’
s
tate.
E
x
am
p
les
o
f
r
o
u
te
p
lan
n
in
g
in
o
n
-
lin
e
en
v
ir
o
n
m
en
ts
in
v
o
lv
e
r
ec
o
n
n
aiss
an
ce
r
o
b
o
ts
,
p
lan
et
ex
p
lo
r
atio
n
ar
e
p
r
o
p
o
s
ed
in
[
4
]
,
[
2
7
]
.
R
ec
en
tly
,
with
d
ev
elo
p
m
en
ts
in
co
m
p
u
ter
s
,
a
lo
t
o
f
o
f
f
-
lin
e
s
tr
ateg
ies
b
ec
am
e
o
n
-
lin
e
o
n
es.
T
h
e
m
ajo
r
aim
o
f
s
u
ch
ap
p
r
o
ac
h
es is
f
in
d
in
g
a
s
o
lu
tio
n
wh
ich
is
a
p
o
s
s
ib
le
p
ath
.
4
.
1
.
Ca
t
eg
o
ries o
f
pa
t
h pla
nn
ing
a
lg
o
rit
hm
s
Ov
er
tim
e,
t
h
ey
wer
e
s
u
p
p
lem
en
ted
v
ia
o
p
tim
izatio
n
ap
p
r
o
a
ch
es
attem
p
tin
g
o
n
r
ed
u
ci
n
g
t
h
e
d
is
tan
ce
th
at
is
tr
av
eled
v
ia
m
o
b
ile
r
o
b
o
ts
.
T
h
er
ef
o
r
e,
m
an
y
r
ese
ar
ch
er
s
h
a
v
e
p
r
o
p
o
s
ed
s
o
lu
ti
o
n
s
to
s
o
lv
e
th
ese
p
r
o
b
lem
s
a
n
d
test
ed
in
m
a
n
y
en
v
ir
o
n
m
en
ts
with
d
y
n
am
ic
an
d
s
tatic
o
b
s
tacle
s
.
T
h
e
f
ir
s
t
attem
p
t
o
n
r
o
b
o
t
p
lan
n
in
g
h
as
b
ee
n
c
o
n
d
u
cted
i
n
th
e
late
1
9
6
0
'
s
an
d
ea
r
ly
1
9
7
0
'
s
.
T
h
e
cu
r
r
en
t
m
eth
o
d
s
an
d
alg
o
r
ith
m
s
f
all
in
to
f
o
u
r
ca
teg
o
r
ies
an
d
th
e
two
m
eth
o
d
s
h
av
e
m
an
y
b
en
ef
its
an
d
d
r
aw
b
ac
k
s
in
m
an
y
co
n
d
itio
n
s
[
2
7
]
,
[
3
0
]
:
c
lass
ical
ap
p
r
o
ac
h
es,
p
r
o
b
ab
ilis
tic
ap
p
r
o
ac
h
es,
h
e
u
r
is
tic
p
l
an
n
er
s
,
an
d
e
v
o
lu
tio
n
ar
y
a
p
p
r
o
a
ch
es
.
T
h
e
in
itial
s
tep
in
all
p
ath
-
p
lan
n
in
g
p
r
o
g
r
a
m
s
is
co
n
v
er
tin
g
s
u
ch
co
n
tin
u
o
u
s
en
v
ir
o
n
m
e
n
tal
m
o
d
el
in
to
d
is
cr
ete
m
ap
ad
e
q
u
ate
f
o
r
th
e
ch
o
s
en
r
o
u
t
-
p
lan
n
in
g
m
e
th
o
d
s
ar
e
ex
p
lain
e
d
in
[
6
]
.
T
h
e
f
ir
s
t
alg
o
r
ith
m
is
“c
lass
ical
ap
p
r
o
ac
h
es”
d
ev
elo
p
ed
in
1
9
8
0
s
an
d
1
9
9
0
s
,
s
u
ch
ap
p
r
o
ac
h
es
in
v
o
lv
e
th
r
e
e
co
m
m
o
n
p
lan
n
in
g
tech
n
iq
u
es
s
u
ch
as
r
o
ad
m
a
p
p
i
n
g
m
eth
o
d
s
,
p
o
ten
tial
f
u
n
ctio
n
s
,
an
d
ce
ll
d
ec
o
m
p
o
s
itio
n
m
eth
o
d
s
ar
e
d
is
cu
s
s
ed
in
[
1
]
,
[
3
0
]
.
I
n
a
r
o
ad
m
ap
,
a
s
et
o
f
r
o
u
tes
is
b
u
ilt
wh
er
e
ea
c
h
n
o
n
-
co
llis
io
n
r
o
u
te
co
n
n
ec
ts
th
e
s
tar
tin
g
p
o
in
ts
with
th
e
d
esti
n
atio
n
.
T
h
e
s
h
o
r
test
r
o
u
te
o
f
th
e
r
o
u
tes
f
o
u
n
d
in
th
e
v
is
u
al
g
r
ap
h
is
id
en
tifie
d
.
T
h
er
ef
o
r
e,
th
e
m
o
s
t w
ell
-
k
n
o
wn
r
o
ad
m
a
p
is
th
e
v
is
ib
ilit
y
g
r
ap
h
an
d
V
o
r
o
n
o
i d
iag
r
am
a
r
e
illu
s
tr
ated
in
[
4
]
,
[
3
0
]
.
B
h
attac
h
ar
y
a
an
d
Gav
r
ilo
v
a
[
3
1
]
s
u
g
g
ested
a
way
t
o
d
esig
n
a
s
af
e
clea
r
an
ce
p
ath
with
th
e
u
s
e
o
f
Vo
r
o
n
o
i
d
iag
r
a
m
f
o
r
s
o
lv
i
n
g
o
p
tim
ality
is
s
u
es.
T
h
e
r
o
ad
m
ap
m
eth
o
d
wo
r
k
s
in
a
s
p
ar
s
e
en
v
ir
o
n
m
en
t
s
in
ce
th
e
n
u
m
b
er
o
f
r
o
ad
s
is
b
ased
o
n
th
e
n
u
m
b
e
r
r
e
g
ar
d
i
n
g
m
u
lt
ip
le
o
b
s
tacle
s
as
well
as
its
e
d
g
es
ar
e
b
u
ilt
u
s
in
g
p
o
in
ts
o
f
e
q
u
al
len
g
th
f
o
r
two
o
r
m
o
r
e
o
b
s
tacle
s
.
As
a
r
esu
lt,
th
e
p
ath
o
b
tain
e
d
is
s
af
e
b
u
t
u
s
u
ally
n
o
t
s
h
o
r
t
is
clea
r
in
[
4
]
,
wh
ile,
p
o
ten
tial
f
ield
p
ath
-
p
lan
n
in
g
f
o
r
m
g
r
ad
i
en
t
o
r
f
ield
,
ar
o
u
n
d
a
r
o
b
o
tic
m
ap
th
at
d
ir
ec
ts
a
r
o
b
o
t
to
a
g
o
al
lo
ca
tio
n
f
r
o
m
m
an
y
p
r
ev
i
o
u
s
lo
ca
tio
n
s
.
T
h
e
m
ajo
r
id
ea
o
f
s
u
ch
m
eth
o
d
s
is
d
ir
ec
tin
g
th
e
r
o
b
o
t
to
th
e
tar
g
et
th
r
o
u
g
h
cr
ea
tin
g
a
s
ig
n
if
ican
t
f
o
r
ce
in
th
e
r
o
b
o
t
en
v
ir
o
n
m
e
n
t.
Attr
ac
tio
n
f
o
r
ce
s
is
a
s
s
ig
n
ed
to
o
b
jectiv
es
an
d
r
ep
u
ls
iv
e
f
o
r
c
es
is
allo
ca
ted
to
o
b
s
tacle
s
.
T
h
e
p
o
te
n
tial
f
ield
m
eth
o
d
is
tr
ea
tin
g
r
o
b
o
ts
as
p
o
in
ts
with
in
th
e
im
p
ac
t
r
elat
ed
to
ar
tific
ial
p
o
ten
tial
f
ield
.
T
h
is
ar
tific
ial
f
ield
is
d
ir
ec
tin
g
a
r
o
b
o
t
to
tar
g
et
wh
er
ea
s
av
o
id
i
n
g
k
n
o
wn
o
b
s
t
ac
les.
Ho
wev
er
,
it
m
u
s
t
b
e
in
d
icate
d
th
at
t
h
is
is
n
o
t
ju
s
t
a
p
at
h
d
esig
n
,
y
et
also
a
co
n
tr
o
l
law
f
o
r
r
o
b
o
ts
.
T
h
e
m
ain
d
is
ad
v
an
tag
e
o
f
th
is
m
eth
o
d
is
th
at
th
er
e
is
a
lo
ca
l
m
in
i
m
u
m
in
th
e
p
o
ten
tial
f
ield
,
wh
er
e
th
e
r
o
b
o
t k
ee
p
s
o
s
cillatin
g
b
etwe
en
o
b
s
tacle
s
as e
x
p
lain
ed
in
[6
]
,
[
3
0
]
.
On
th
e
o
t
h
er
h
an
d
,
th
e
p
r
o
ce
s
s
o
f
ce
ll
d
ec
o
m
p
o
s
itio
n
r
ep
r
es
en
ts
th
e
s
ea
r
ch
s
p
ac
e
as
i
n
d
iv
i
d
u
al
u
n
its
r
ef
er
r
ed
to
as
ce
lls
.
T
h
e
m
ain
aim
is
p
r
o
v
id
in
g
a
s
eq
u
en
ce
r
elate
d
to
o
b
s
tacle
s
tep
s
f
r
o
m
s
tar
tin
g
p
o
in
t
th
r
o
u
g
h
th
e
g
o
al.
T
h
ese
s
tep
s
m
ig
h
t
b
e
p
r
o
v
i
d
ed
v
ia
u
s
i
n
g
ce
lls
with
n
o
r
estrictio
n
s
.
On
e
co
m
m
o
n
ce
ll
d
ec
o
m
p
o
s
itio
n
m
eth
o
d
is
th
e
g
r
id
m
eth
o
d
wh
er
e
it wa
s
u
tili
ze
d
f
o
r
cr
ea
tin
g
en
v
ir
o
n
m
e
n
t m
ap
.
T
h
e
g
r
ea
ter
th
e
co
m
p
lex
ity
in
s
p
ec
if
y
in
g
th
e
g
r
id
’
s
s
ize,
th
e
s
m
aller
th
e
g
r
i
d
’
s
s
ize,
th
e
en
v
ir
o
n
m
e
n
tal
r
e
p
r
esen
tatio
n
will
b
e
m
o
r
e
ac
cu
r
ate.
H
o
wev
er
,
if
s
m
aller
g
r
id
s
ar
e
u
s
ed
,
th
er
e
will
b
e
an
in
cr
ea
s
e
in
th
e
s
ea
r
ch
d
is
tan
ce
an
d
m
em
o
r
y
s
p
ac
e,
ex
a
m
p
le
o
f
th
ese
ap
p
r
o
ac
h
es
in
[
3
2
]
,
a
n
ew
m
o
lecu
lar
d
ec
o
m
p
o
s
itio
n
s
tr
ateg
y
is
d
ev
elo
p
ed
wh
en
b
ar
r
ier
s
,
o
b
jecti
v
es,
s
en
s
o
r
p
latf
o
r
m
an
d
f
ield
o
f
v
is
i
o
n
(
FOV)
wer
e
p
r
o
v
i
d
ed
as
lim
ited
an
d
clo
s
ed
s
u
b
s
ets
r
elate
d
to
E
u
clid
ea
n
w
o
r
k
s
p
ac
e
[
4
]
,
[
3
0
]
.
So
m
e
o
f
th
e
p
r
o
b
lem
s
p
r
esen
ted
in
t
h
is
way
,
r
eq
u
ir
es
m
u
ch
m
em
o
r
y
f
o
r
a
n
aly
zin
g
wo
r
k
e
n
v
ir
o
n
m
en
t le
ad
in
g
to
m
ai
n
co
m
p
u
tatio
n
al
co
m
p
lex
ities
.
Du
r
in
g
th
e
1
9
9
0
s
,
n
ew
ty
p
e
s
o
f
m
eth
o
d
s
ar
o
s
e
to
p
r
o
b
l
em
-
s
o
lv
in
g
em
e
r
g
ed
f
r
o
m
th
e
class
ica
l
m
eth
o
d
s
,
k
n
o
wn
as
“p
r
o
b
a
b
ilis
tic
ap
p
r
o
ac
h
es”.
Pro
b
ab
ilis
tic
r
o
a
d
m
a
p
(
PR
M)
is
a
n
etwo
r
k
o
f
s
tr
aig
h
t
-
cu
r
v
e
s
ec
tio
n
s
,
o
r
ar
cs,
wh
ich
m
ee
t
i
n
th
e
n
o
d
es.
I
n
th
is
way
,
n
o
d
e
s
ar
e
g
en
e
r
ated
,
an
d
lin
k
s
ar
e
m
ad
e
b
ased
o
n
th
e
p
ar
am
eter
s
s
et
in
th
e
PR
M
alg
o
r
ith
m
.
T
h
e
n
u
m
b
er
o
f
n
o
d
e
s
is
d
ir
ec
tly
r
elate
d
t
o
th
e
p
r
o
b
lem
an
d
af
f
ec
ts
th
e
alg
o
r
ith
m
'
s
s
u
itab
ilit
y
f
o
r
an
y
co
m
p
lex
ity
in
th
e
en
v
ir
o
n
m
en
t
[
1
]
.
T
h
e
al
g
o
r
ith
m
u
s
es
a
n
etwo
r
k
o
f
c
o
n
n
ec
te
d
n
o
d
es
to
d
eter
m
in
e
th
e
d
ir
ec
ti
o
n
o
f
a
m
o
v
in
g
r
o
b
o
t
co
llis
io
n
.
I
n
PR
M,
th
e
m
ap
is
lo
ad
ed
f
ir
s
t
an
d
th
en
th
e
r
an
d
o
m
co
n
f
ig
u
r
atio
n
is
s
et
to
b
e
u
s
ed
as
n
etwo
r
k
lo
ca
tio
n
s
.
T
h
e
f
ir
s
t
an
d
last
p
o
s
itio
n
s
a
r
e
th
en
d
ef
in
ed
.
A
n
etwo
r
k
o
f
n
o
d
e
c
o
n
n
ec
tio
n
s
m
ay
b
e
estab
lis
h
ed
b
etwe
en
th
e
f
ir
s
t
an
d
last
s
ites
.
Fin
ally
,
th
e
alg
o
r
ith
m
s
ea
r
ch
es f
o
r
th
is
n
etwo
r
k
o
f
c
o
n
n
ec
ted
n
o
d
es to
r
etr
iev
e
a
n
o
n
-
co
llis
io
n
p
at
h
[
3
3
]
.
On
th
e
o
th
er
h
an
d
,
PR
M
p
r
o
d
u
ce
s
a
p
o
ten
tial
p
ath
in
a
v
er
y
s
h
o
r
t
tim
e
to
m
ak
e
i
t
wo
r
k
in
th
e
m
o
s
t
ef
f
icien
t
co
n
d
itio
n
s
b
u
t
m
a
k
e
th
e
m
o
s
t
o
f
th
e
s
m
o
o
th
n
av
i
g
atio
n
.
I
n
[
3
4
]
wh
en
th
e
a
u
th
o
r
s
p
r
o
p
o
s
ed
a
n
ew
ch
an
g
e
in
PR
M
th
at
s
o
u
g
h
t
to
s
im
u
ltan
eo
u
s
ly
r
ed
u
ce
th
e
p
ath
len
g
th
an
d
th
e
p
la
n
n
in
g
tim
e
o
f
m
u
lti
-
q
u
er
y
p
r
o
b
lem
s
o
f
t
h
e
p
lan
n
i
n
g
th
a
t
h
as
b
ee
n
ca
lled
as
a
s
em
i
-
lazy
PR
M
wh
ich
p
r
o
v
id
es
a
b
ala
n
ce
b
etwe
en
b
asic
PR
M
an
d
L
PR
M
ac
co
r
d
in
g
to
a
v
alu
e
o
f
th
e
co
llis
io
n
test
.
An
o
th
er
s
et
o
f
th
e
ap
p
r
o
ac
h
es
ar
e
“h
eu
r
is
tic
p
lan
n
er
s
”
o
r
ex
p
er
ien
ce
d
alg
o
r
ith
m
s
o
f
th
e
s
ea
r
ch
s
tr
ateg
y
.
T
h
e
ty
p
es
o
f
h
eu
r
i
s
tic
m
eth
o
d
s
o
f
p
lan
n
in
g
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
6
,
Dec
em
b
e
r
2
0
2
1
:
4
8
9
1
-
4
9
0
6
4898
alth
o
u
g
h
u
s
ed
m
o
r
e
r
ec
en
tly
c
o
m
p
ar
ed
to
th
e
class
ical
m
eth
o
d
s
,
ar
e
v
er
y
im
p
o
r
tan
t
b
ec
au
s
e
o
f
th
eir
lear
n
in
g
b
ased
o
n
h
u
m
a
n
-
lik
e
b
eh
av
io
r
.
Ma
n
y
Heu
r
is
tic
s
y
s
tem
alg
o
r
ith
m
s
ar
e
d
esig
n
ed
f
o
r
p
er
f
ec
tio
n
,
ef
f
ec
tiv
e
n
ess
an
d
o
p
tim
is
m
an
d
m
a
y
f
in
d
a
f
aster
p
ath
b
esid
es
th
e
class
ical
o
n
e
[
3
4
]
.
R
u
b
io
et
a
l.
[
1
]
d
is
tin
g
u
is
h
th
is
m
eth
o
d
b
ased
o
n
g
r
ap
h
s
ea
r
ch
,
f
o
r
e
x
am
p
le:
Alg
o
r
ith
m
A
*
,
g
r
ee
d
y
s
ea
r
ch
,
Dijk
s
tr
a
alg
o
r
ith
m
an
d
D
*
alg
o
r
ith
m
.
Alth
o
u
g
h
,
VI
n
jar
ap
u
a
n
d
Ga
wr
e
[
3
0
]
ar
e
awa
r
e
th
at
h
eu
r
i
s
tic
m
eth
o
d
s
ar
e
s
im
ilar
to
th
e
h
u
m
a
n
lear
n
in
g
.
T
h
e
r
ef
o
r
e
,
ac
co
r
d
in
g
to
th
is
f
ac
t,
it
is
l
is
ted
a
s
f
o
llo
ws:
Ar
tific
ial
n
atu
r
al
n
etwo
r
k
s
(
ANN)
,
g
en
etic
alg
o
r
ith
m
s
,
an
d
f
u
zz
y
lo
g
ic
,
W
av
elets.
I
n
ad
d
itio
n
,
Gan
g
an
ath
et
a
l.
[
3
5
]
r
ec
o
m
m
en
d
s
th
e
Z
*
h
eu
r
is
tic
s
ea
r
ch
alg
o
r
ith
m
f
o
r
alg
o
r
ith
m
p
lan
n
in
g
f
o
r
en
er
g
y
-
s
av
in
g
ar
ea
s
in
h
illy
ar
ea
s
.
I
n
th
is
r
ev
iew,
it
wa
s
ex
p
lain
ed
th
at
th
e
two
m
o
s
t
p
o
p
u
lar
ar
e
t
h
e
Dijk
s
tr
a
alg
o
r
it
h
m
an
d
th
e
A
*
alg
o
r
ith
m
.
B
o
th
alg
o
r
ith
m
s
o
f
f
er
th
e
b
est p
a
th
b
ac
k
an
d
ca
n
b
e
co
n
s
id
er
ed
as sp
ec
ial
ty
p
es o
f
d
y
n
am
ic
p
r
o
g
r
am
m
in
g
[
3
6
]
.
−
Dijk
s
tr
a
alg
o
r
ith
m
:
I
n
1
9
5
6
,
c
o
m
p
u
ter
s
cien
tis
t
E
d
s
g
er
W
.
Dijk
s
tr
a
d
ev
elo
p
ed
an
alg
o
r
it
h
m
to
f
in
d
v
er
y
s
h
o
r
t
p
ath
s
b
etwe
en
th
e
n
o
d
e
s
o
n
a
g
r
ap
h
th
at
co
u
ld
r
ep
r
e
s
en
t,
f
o
r
in
s
tan
ce
,
a
r
o
ad
m
ap
o
r
a
s
ep
ar
ate
wo
r
k
s
p
ac
e.
−
Alg
o
r
ith
m
A
*
:
T
h
is
alg
o
r
ith
m
p
er
f
o
r
m
s
th
e
s
ea
r
ch
o
f
all
th
e
p
ath
s
wh
ich
m
ay
b
e
d
ir
ec
ted
to
war
d
s
th
e
g
o
al
an
d
ch
ar
ac
ter
izes
th
e
p
at
h
th
at
h
as
th
e
m
in
im
u
m
co
s
ts
(
i.e
.
,
m
in
im
al
tim
e,
m
in
im
al
d
is
tan
ce
tr
av
eled
,
an
d
s
o
o
n
)
.
Of
all
ev
er
y
av
aila
b
le
p
ath
,
th
e
alg
o
r
ith
m
ch
o
o
s
es
th
e
p
ath
o
r
p
ath
s
th
at
p
o
s
s
ib
ly
r
esu
lt
in
f
ast
s
o
lu
tio
n
.
T
h
e
alg
o
r
ith
m
o
p
er
a
tes
with
th
e
u
s
e
o
f
th
e
weig
h
t
ed
g
r
a
p
h
s
:
b
e
g
in
n
in
g
f
r
o
m
a
1
st
g
r
a
p
h
n
o
d
e,
f
o
r
m
a
p
ath
tr
ee
th
at
s
tar
ts
f
r
o
m
th
at
n
o
d
e,
o
b
s
er
v
in
g
p
o
ten
ti
al
p
ath
s
o
n
e
b
y
o
n
e,
to
th
e
p
o
i
n
t
wh
er
e
o
n
e
o
f
its
p
ath
s
is
en
d
in
g
at
tar
g
eted
n
o
d
e.
I
n
s
h
o
r
t,
A
*
o
p
e
r
ates
s
im
ilar
ly
to
Dijk
s
tr
a'
s
ca
p
ab
ilit
ies
ex
ce
p
t
th
at
it
g
u
id
es
its
s
ea
r
ch
to
war
d
s
th
e
m
o
s
t
p
r
o
m
is
in
g
s
tates
an
d
ca
n
s
av
e
a
s
ig
n
if
ican
t
am
o
u
n
t
o
f
ca
lcu
latio
n
.
Fin
ally
,
all
th
e
te
ch
n
iq
u
es
d
escr
ib
ed
ab
o
v
e
h
a
v
e
b
ee
n
ap
p
lied
with
s
u
cc
ess
to
th
e
n
ew
r
o
b
o
t
s
y
s
tem
s
wh
ich
ex
p
lo
d
ed
o
n
th
e
p
latf
o
r
m
in
2
0
0
0
'
s
,
lik
e
th
e
s
p
ac
e
r
o
v
er
s
an
d
h
u
m
an
o
id
r
o
b
o
ts
.
Fo
r
m
o
r
e
s
tu
d
y
ab
o
u
t
th
is
ap
p
r
o
ac
h
an
d
h
ig
h
lig
h
t
th
eir
p
r
ac
tical
b
en
ef
its
an
d
d
is
ad
v
an
ta
g
es
ar
e
p
r
esen
ted
i
n
[
3
0
]
,
[
35
]
,
[
3
6
]
,
wh
ile
th
e
class
ic
m
eth
o
d
s
h
a
v
e
b
ee
n
f
o
u
n
d
to
b
e
ef
f
ec
tiv
e,
th
e
ca
lcu
latio
n
tim
e
is
im
p
o
r
tan
t
in
d
eter
m
in
in
g
t
h
e
p
r
o
b
ab
ilit
y
o
f
a
co
llis
io
n
.
Als
o
,
th
e
class
ical
m
eth
o
d
s
ar
e
o
f
ten
c
o
n
f
in
e
d
to
a
s
u
itab
le
lo
ca
l
o
p
tim
u
m
s
o
lu
tio
n
th
at
ca
n
b
e
m
u
c
h
s
m
aller
th
an
g
l
o
b
al
s
o
lu
tio
n
.
I
n
ad
d
itio
n
to
th
at,
it
b
ec
o
m
es
ev
en
m
o
r
e
d
if
f
i
cu
lt
wh
en
th
e
en
v
ir
o
n
m
en
t
is
d
y
n
am
ic.
T
h
ese
d
is
ad
v
an
tag
es
m
ak
e
class
ical
m
eth
o
d
s
in
co
m
p
eten
t
in
co
m
p
lex
ar
ea
s
(
th
e
m
o
r
e
i
n
f
o
r
m
atio
n
o
n
class
ical
an
d
ev
o
lu
tio
n
in
o
f
f
-
lin
e
an
d
o
n
-
l
in
e
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
,
ar
e
ex
p
lain
ed
i
n
[
4
]
.
Fu
r
th
er
,
o
v
er
th
e
p
ast
two
d
ec
ad
es,
th
e
e
v
o
lu
tio
n
ar
y
p
r
o
ce
s
s
an
d
m
eth
o
d
o
lo
g
ical
ap
p
r
o
ac
h
h
av
e
ev
o
l
v
ed
a
n
d
i
n
tr
o
d
u
ce
d
"e
v
o
lu
tio
n
alg
o
r
ith
m
s
".
T
h
is
alg
o
r
ith
m
h
as
b
ee
n
wid
ely
u
s
ed
to
p
lan
p
ath
in
g
an
d
s
o
lv
e
co
m
p
lex
an
d
d
y
n
am
ic
o
b
s
tacle
p
r
o
b
lem
s
in
th
e
en
v
ir
o
n
m
e
n
t
th
r
o
u
g
h
v
ar
io
u
s
task
s
.
Hen
ce
,
t
h
e
v
ar
io
u
s
ty
p
es
o
f
ev
o
lu
tio
n
a
r
y
tech
n
iq
u
es
h
av
e
b
ee
n
ap
p
ea
r
ed
s
u
c
h
as:
−
Gen
etic
alg
o
r
ith
m
(
GA)
:
t
h
is
is
an
o
p
tim
iza
tio
n
to
o
l
b
ased
o
n
g
en
etic
s
elec
tio
n
a
n
d
g
en
e
tic
en
g
in
ee
r
i
n
g
.
T
h
ey
a
r
e
c
o
m
b
in
in
g
th
e
s
u
r
v
iv
al
o
f
f
ittes
t
with
r
a
n
d
o
m
d
ata
to
c
r
ea
te
a
s
ea
r
ch
al
g
o
r
ith
m
wh
ich
cr
ea
tes
s
o
lu
tio
n
s
to
th
e
s
ea
r
ch
is
s
u
es.
I
n
GA,
th
e
f
ir
s
t
s
tep
is
r
an
d
o
m
g
en
er
atio
n
o
f
p
o
p
u
latio
n
a
n
d
th
en
h
av
e
b
ee
n
u
s
ed
th
e
cr
o
s
s
o
v
er
,
m
u
tatio
n
,
an
d
s
elec
tio
n
to
cr
ea
te
p
o
s
s
ib
le
p
ath
s
[
4
]
,
[
37
]
-
[
3
9
]
.
Ach
iev
in
g
th
e
g
o
al
in
a
co
m
p
l
ex
en
v
ir
o
n
m
en
t
r
eq
u
ir
es c
h
r
o
m
o
s
o
m
es o
f
v
ar
y
in
g
le
n
g
th
s
.
I
s
m
ail
et
a
l.
[
3
7
]
in
t
r
o
d
u
ce
d
b
i
n
ar
y
c
o
d
in
g
o
f
v
ar
y
in
g
len
g
th
s
o
f
GA
wh
er
e
th
e
g
e
n
e
m
ea
n
s
s
u
cc
ess
iv
e
d
ir
ec
tio
n
o
f
th
e
m
o
v
em
en
t
as
well
as
th
e
d
is
t
an
ce
[
3
8
]
p
r
o
p
o
s
ed
a
g
en
etic
b
ased
alg
o
r
ith
m
o
f
p
ath
p
lan
n
in
g
,
wh
e
r
e
it
h
as
b
ee
n
ca
r
r
ied
b
y
th
e
p
o
p
u
lati
o
n
s
,
in
clu
d
in
g
th
o
s
e
o
v
er
co
m
in
g
o
b
s
tacle
s
(
an
d
illeg
al
p
ath
s
also
)
.
L
ater
,
an
in
v
alid
p
at
h
s
eq
u
e
n
ce
o
f
m
e
th
o
d
s
is
co
n
s
id
er
e
d
th
e
ev
al
u
atio
n
o
f
th
e
p
e
n
alty
f
u
n
ctio
n
,
wh
ich
r
esu
lts
in
in
cr
ea
s
in
g
th
e
co
m
p
u
tatio
n
al
l
o
ad
wh
ich
lea
d
s
to
h
ig
h
e
r
tim
e
o
f
ex
ec
u
tio
n
.
On
th
e
o
th
er
h
a
n
d
,
C
h
ay
m
aa
et
a
l.
[
3
9
]
u
s
ed
a
g
en
etic
alg
o
r
ith
m
to
p
r
o
d
u
c
e
an
o
p
tim
al
r
esp
o
n
s
e
u
s
in
g
o
p
tim
al
co
n
t
r
o
l.
C
o
s
t
wo
r
k
is
ca
lcu
lated
f
o
r
ea
ch
o
p
tim
al
r
esp
o
n
s
e,
an
d
th
en
th
e
b
e
s
t
is
ch
o
s
en
f
o
r
th
e
n
ex
t step
.
T
h
is
p
r
o
ce
s
s
will c
o
n
tin
u
e
u
n
til lo
wer
co
s
ts
ar
e
r
e
ac
h
ed
.
−
Par
ticle
s
war
m
o
p
tim
izatio
n
(
PS
O)
:
I
s
an
o
th
er
ev
o
lu
tio
n
a
r
y
alg
o
r
ith
m
wid
ely
u
s
ed
in
p
ath
p
lan
n
in
g
.
T
h
e
co
n
ce
p
t o
f
th
at
m
eth
o
d
co
m
es
f
r
o
m
s
im
p
lific
atio
n
o
f
a
s
im
p
lifie
d
s
o
cial
p
r
o
g
r
am
,
attem
p
ti
n
g
to
m
im
ic
th
e
u
n
ex
p
ec
te
d
m
o
v
em
en
ts
o
f
a
f
l
o
ck
o
f
b
ir
d
s
o
r
a
s
ch
o
o
l
o
f
f
is
h
.
Yea
r
s
o
f
s
tu
d
y
in
g
th
e
d
y
n
a
m
ics
o
f
an
im
als
h
av
e
led
t
o
th
e
p
o
s
s
ib
ilit
y
o
f
u
s
in
g
th
is
b
eh
av
i
o
r
as
a
to
o
l
f
o
r
ex
ce
llen
ce
.
I
n
c
o
m
p
a
r
is
o
n
with
th
e
GA,
th
e
ad
v
an
tag
e
o
f
t
h
e
PS
O
is
th
at
it
is
ea
s
y
to
u
s
e
an
d
h
as
a
s
m
a
ller
n
u
m
b
e
r
o
f
th
e
r
ep
air
p
ar
a
m
eter
s
[
1
]
,
[
4
]
,
[
40
]
-
[
4
2
]
.
R
ec
en
tly
,
Nasr
o
llah
y
a
n
d
J
av
ad
i
[
4
0
]
in
tr
o
d
u
ce
d
a
PS
O
-
b
ased
s
y
s
tem
o
f
d
y
n
am
ic
ar
ea
s
wh
er
e
p
o
p
u
latio
n
s
h
av
e
b
ee
n
p
r
o
d
u
c
ed
,
wh
ich
co
n
tain
in
v
alid
p
ath
s
an
d
test
ed
u
n
d
er
p
en
alty
f
u
n
ctio
n
ev
alu
atio
n
.
I
n
ad
d
itio
n
,
Go
n
g
et
a
l.
[
4
1
]
s
u
g
g
ested
a
m
o
d
el
th
at
u
tili
ze
d
a
m
u
lti
-
o
b
jectiv
e
PS
O
an
d
a
g
en
etic
lik
e
o
p
er
ato
r
o
f
m
u
tatio
n
.
Ma
n
y
tar
g
ets
h
av
e
b
ee
n
to
o
s
h
o
r
t
a
d
is
tan
ce
an
d
th
e
m
o
s
t
d
an
g
er
o
u
s
p
ath
f
r
o
m
o
b
s
tacle
s
.
T
h
e
o
p
er
ato
r
o
f
th
e
m
u
tatio
n
h
as b
ee
n
u
tili
ze
d
to
co
n
f
ig
u
r
e
th
e
i
n
v
a
lid
p
ath
s
,
wh
ile
in
[
4
2
]
v
ar
i
ab
les len
g
th
is
u
s
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
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&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8
7
0
8
A
o
n
e
d
ec
a
d
e
s
u
r
ve
y
o
f
a
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
t sys
tems
(
N
o
o
r
A
b
d
u
l Kh
a
leq
Zg
h
a
ir
)
4899
d
ep
en
d
i
n
g
o
n
th
e
n
u
m
b
e
r
o
f
v
er
tices
o
f
th
e
p
o
l
y
g
o
n
al
o
b
s
ta
cles.
T
h
e
b
in
ar
y
PS
O
is
u
s
ed
in
co
n
ju
n
ctio
n
with
a
g
en
etic
-
lik
e
o
p
er
ato
r
o
f
m
u
t
atio
n
f
o
r
o
p
tim
izin
g
th
e
d
ir
ec
ti
o
n
.
−
An
t
co
lo
n
y
o
p
tim
izatio
n
(
AC
O)
:
I
n
1
9
9
2
,
Ma
r
c
o
Do
r
ig
o
in
tr
o
d
u
ce
d
th
is
alg
o
r
ith
m
,
wh
i
ch
is
p
ar
t
o
f
a
co
lo
n
ial
f
am
ily
alg
o
r
ith
m
s
,
in
s
war
m
in
tellig
en
ce
s
tr
ateg
y
.
T
h
e
f
ir
s
t
alg
o
r
ith
m
aim
e
d
to
s
ea
r
ch
th
e
b
est
r
o
u
te
in
th
e
g
r
ap
h
,
b
ased
o
n
t
h
e
b
eh
a
v
io
r
s
o
f
th
e
a
n
ts
to
f
i
n
d
th
e
m
in
im
al
r
o
u
te
to
t
h
e
f
o
o
d
s
o
u
r
ce
.
T
h
e
AC
O
h
as b
ee
n
u
tili
ze
d
to
f
in
d
a
g
lo
b
al
o
p
tim
u
m
p
ath
f
r
o
m
s
u
b
b
est p
ath
s
[
4
3
]
,
[
4
4
]
.
Me
i
et
a
l.
[
4
3
]
p
r
o
p
o
s
ed
a
n
e
w
h
y
b
r
id
a
p
p
r
o
ac
h
th
at
c
o
m
b
i
n
es
th
e
AC
O
an
d
a
r
tific
ial
p
o
t
en
tial
f
ield
(
APF)
f
o
r
th
e
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
.
T
h
e
AC
O
h
as
b
ee
n
u
s
ed
f
o
r
t
h
e
p
la
n
n
in
g
o
f
g
lo
b
al
p
ath
a
n
d
th
e
APF
h
as
b
ee
n
u
tili
ze
d
to
d
ir
ec
t
th
e
r
o
b
o
t
to
ju
m
p
to
lo
ca
l
m
in
im
u
m
.
Fro
m
th
is
h
y
b
r
id
ap
p
r
o
ac
h
it
ca
n
b
e
s
ati
s
f
ied
b
y
o
b
s
tacle
av
o
id
an
ce
in
b
o
th
a
g
lo
b
al
o
p
tim
al
an
d
r
ea
l
-
tim
e
.
T
h
e
m
ain
is
s
u
es
o
f
th
e
AC
O
ar
e
d
if
f
icu
lties
to
o
b
tain
th
e
q
u
i
ck
s
o
lu
tio
n
co
n
v
er
g
en
ce
an
d
d
if
f
icu
lt
to
ap
p
ly
to
th
e
co
m
p
le
x
m
ap
s
an
d
v
er
y
la
r
g
e.
T
h
er
ef
o
r
e,
L
ee
et
a
l.
[
4
4
]
im
p
r
o
v
ed
AC
O
an
d
in
tr
o
d
u
ce
d
it u
s
in
g
a
p
o
ten
tial
f
ield
m
eth
o
d
to
o
b
t
ain
a
q
u
ick
co
n
v
er
g
en
ce
s
o
lu
tio
n
th
r
o
u
g
h
ad
ju
s
tin
g
AC
O
co
n
tr
o
l
p
ar
am
ete
r
s
.
T
h
e
ad
v
a
n
ce
d
AC
O
u
s
es
a
s
tan
d
ar
d
p
h
er
o
m
o
n
e
s
elec
tiv
ity
(
a
s
u
b
s
tan
ce
th
at
is
s
ec
r
eted
b
y
th
e
a
n
ts
)
f
o
r
u
p
d
atin
g
th
e
v
ec
to
r
o
f
th
e
p
o
s
itio
n
.
−
Simu
lated
an
n
ea
lin
g
(
SA)
:
w
h
ich
m
ea
n
s
a
n
n
ea
lin
g
in
m
etallu
r
g
y
,
is
o
n
e
o
f
th
e
r
an
d
o
m
s
ea
r
ch
e
s
m
eth
o
d
s
an
d
is
s
im
ilar
to
th
e
p
r
o
ce
d
u
r
e
o
f
co
o
lin
g
m
o
lten
m
etal
b
y
an
n
ea
lin
g
th
at
ex
p
lain
ed
in
[
4
]
.
Mia
o
an
d
T
ian
[
4
5
]
d
ev
el
o
p
e
d
a
m
eth
o
d
b
ased
o
n
th
e
SA
alg
o
r
ith
m
f
o
r
d
y
n
am
ic
ar
ea
s
with
s
tab
le
an
d
d
y
n
am
ic
o
b
s
tacle
s
.
T
h
eir
ap
p
r
o
ac
h
u
s
es
v
er
tices
o
f
o
b
s
tacle
s
as
a
s
ea
r
ch
ar
ea
.
T
h
e
SA
alg
o
r
ith
m
is
u
tili
ze
d
f
o
r
q
u
ick
ly
f
in
d
i
n
g
th
e
o
p
tim
al
p
ath
o
r
th
e
n
ea
r
b
est
p
ath
an
d
in
[
4
6
]
in
tr
o
d
u
ce
d
a
SA
m
u
ltid
is
cip
lin
ar
y
ap
p
r
o
ac
h
f
o
r
p
ath
p
lan
n
in
g
in
f
o
u
r
d
y
n
a
m
ic
en
v
ir
o
n
m
en
ts
with
d
if
f
e
r
en
t
co
m
p
lex
ities
.
R
ep
lacin
g
,
d
eletin
g
,
m
o
d
if
y
in
g
,
an
d
r
e
p
air
in
g
th
e
o
p
e
r
ato
r
was
in
tr
o
d
u
ce
d
alo
n
g
s
id
e
with
SA.
SA
p
ar
am
ete
r
s
h
av
e
b
ee
n
o
p
tim
ized
f
o
r
th
e
m
o
v
in
g
o
b
s
tacle
s
.
T
h
ey
h
av
e
also
in
tr
o
d
u
ce
d
co
m
p
ar
is
o
n
s
b
etwe
en
th
e
SA
an
d
GA
[
4
6
]
.
Ov
e
r
th
e
y
ea
r
s
,
s
ev
er
al
au
th
o
r
s
h
a
v
e
r
ev
iewe
d
th
e
p
r
e
v
io
u
s
alg
o
r
ith
m
s
.
At
f
ir
s
t,
th
ese
alg
o
r
ith
m
s
o
n
ly
u
n
d
er
s
to
o
d
tim
e
w
h
ich
i
s
r
eq
u
ir
ed
to
r
u
n
a
tr
ajec
to
r
y
an
d
t
r
ied
to
d
o
it
with
o
u
t
a
n
y
ass
u
m
p
tio
n
s
an
d
ad
ap
t
it
to
s
y
s
tem
s
as
r
ea
l
as
p
o
s
s
ib
le.
T
h
e
alg
o
r
ith
m
is
th
e
n
u
p
g
r
ad
e
d
an
d
an
aly
ze
d
o
f
t
h
e
r
o
b
o
t’
s
s
y
s
tem
s
h
av
e
b
ee
n
e
x
ten
d
ed
to
th
o
s
e
wh
ich
ar
e
m
o
r
e
r
ea
lis
tic.
On
e
way
to
d
o
th
is
is
a
n
aly
zin
g
th
e
b
eh
av
i
o
r
s
o
f
r
o
b
o
t
s
y
s
tem
s
,
r
esu
lts
in
im
p
r
o
v
in
g
o
p
e
r
atin
g
p
ar
am
eter
s
(
i.e
.
,
to
r
q
u
e,
tim
e,
en
er
g
y
,
an
d
d
is
tan
ce
)
.
T
h
e
i
n
itial
alg
o
r
ith
m
f
o
r
tr
ajec
to
r
y
p
lan
n
in
g
s
o
u
g
h
t
t
o
d
ec
r
ea
s
e
tim
e
wh
ich
is
r
e
q
u
ir
ed
to
co
m
p
lete
a
m
is
s
io
n
.
I
n
th
o
s
e
r
esear
ch
es,
th
e
au
th
o
r
s
h
av
e
f
o
r
ce
d
s
m
o
o
th
p
at
h
in
g
f
o
r
th
e
r
o
b
o
ts
to
f
o
llo
w.
An
o
th
e
r
way
to
tak
e
tr
ajec
to
r
y
p
lan
n
in
g
h
as
b
ee
n
b
ased
u
p
o
n
f
in
d
in
g
a
jer
k
o
p
tim
al
r
o
u
te
[
1
]
,
[
4
]
,
[
6
]
.
On
e
m
o
r
e
d
if
f
er
en
t
lin
e
f
o
r
s
o
lv
in
g
th
e
is
s
u
e
o
f
th
e
tr
ajec
to
r
y
p
la
n
n
in
g
h
as
b
ee
n
b
ased
u
p
o
n
to
r
q
u
e
an
d
m
in
im
izatio
n
o
f
th
e
en
er
g
y
u
s
ed
.
I
n
th
e
f
ield
o
f
au
to
m
ated
m
an
u
f
ac
tu
r
in
g
p
r
o
ce
s
s
es
an
d
r
o
b
o
tics
,
en
er
g
y
m
in
im
izatio
n
is
o
f
in
ter
est.
I
n
th
e
f
u
tu
r
e,
r
o
b
o
t
c
o
llab
o
r
ativ
e
wo
r
k
will
o
p
tim
izatio
n
to
o
b
tain
m
in
i
m
ized
d
is
p
lace
m
en
ts
an
d
it
is
m
o
r
e
im
p
o
r
tan
t
to
av
o
id
co
llis
io
n
s
.
Ar
tific
ial
in
te
llig
en
ce
will e
n
h
an
ce
th
e
p
er
f
o
r
m
an
ce
o
f
co
o
p
er
ativ
e
r
o
b
o
ts
[
4
]
,
[
4
7
]
.
4
.
2
.
O
bs
t
a
cle
a
v
o
ida
nce
Av
o
id
in
g
o
b
s
tacle
s
in
lo
ca
l
r
o
u
te
p
lan
n
in
g
is
a
n
ess
en
tial
tech
n
o
lo
g
y
an
d
o
n
e
o
f
a
n
im
p
o
r
tan
t
tech
n
o
lo
g
y
th
at
g
u
ar
an
tees
s
af
ety
.
R
o
b
o
t
n
av
ig
at
io
n
is
th
e
ab
ilit
y
o
f
a
m
o
b
ile
r
o
b
o
t
f
o
r
m
o
v
in
g
ar
o
u
n
d
en
v
ir
o
n
m
en
t
(
th
e
k
n
o
wn
as
well
as
th
e
u
n
k
n
o
wn
)
in
wh
ich
th
e
g
o
al
ca
n
b
e
ac
h
iev
ed
with
o
u
t
h
itti
n
g
an
y
o
b
s
tacle
[
2
]
,
[
4
8
]
th
is
p
r
o
ce
s
s
r
eq
u
ir
es
a
m
ap
,
tar
g
et
l
o
ca
tio
n
,
an
d
c
u
r
r
en
t
l
o
ca
tio
n
o
f
th
e
r
o
b
o
t
u
s
in
g
a
s
en
s
o
r
o
r
o
t
h
er
p
o
s
itio
n
in
g
s
y
s
tem
.
I
n
ad
d
itio
n
,
r
ec
alcu
late
d
et
o
u
r
i
n
g
p
at
h
an
d
f
o
r
s
teer
in
g
its
elf
to
a
m
o
r
e
ef
f
icien
t
an
d
s
af
er
p
ath
in
th
e
r
ea
l
tim
e.
Fo
r
m
an
y
y
ea
r
s
,
n
u
m
er
o
u
s
s
tu
d
ies
wer
e
p
er
f
o
r
m
ed
o
n
th
is
s
u
b
ject
an
d
n
u
m
er
o
u
s
ap
p
r
o
ac
h
es
wer
e
p
r
e
s
en
ted
,
s
o
m
e
o
f
th
o
s
e
ap
p
r
o
a
ch
es
h
av
e
b
ee
n
im
p
lem
en
te
d
i
n
th
e
r
ea
l
s
y
s
tem
s
.
T
h
er
ef
o
r
e,
th
e
alg
o
r
ith
m
o
f
o
b
s
tacle
av
o
id
an
ce
is
h
elp
f
u
l
i
n
p
r
ev
en
tin
g
th
e
co
llis
io
n
s
.
T
h
e
s
e
in
clu
d
e
o
b
s
tacle
d
etec
tio
n
an
d
th
e
ac
tu
al
o
b
s
tacle
av
o
id
an
ce
[
4
]
,
[
47
]
,
[
4
8
]
.
Mo
s
t o
f
th
e
p
r
ev
en
t c
o
llis
io
n
s
alg
o
r
ith
m
s
ca
n
b
e:
a.
Map
-
b
ased
:
th
is
ty
p
e
o
f
th
e
alg
o
r
ith
m
d
ep
e
n
d
s
u
p
o
n
th
e
g
eo
m
etr
ic
m
o
d
els
o
r
th
e
m
ap
s
o
f
an
en
v
ir
o
n
m
en
t.
T
h
e
r
o
b
o
t
h
as
a
n
en
v
ir
o
n
m
en
t
m
ap
m
o
d
el
an
d
m
ay
b
e
s
en
s
in
g
its
cu
r
r
en
t
p
o
s
itio
n
at
an
y
o
f
th
e
m
o
m
en
ts
an
d
m
ay
b
e
d
e
tectin
g
th
e
co
llis
io
n
s
th
r
o
u
g
h
t
h
e
ca
lcu
latio
n
o
f
th
e
d
is
tan
ce
s
[
4
7
]
.
b.
Ma
p
less
-
b
ased
:
th
ey
d
o
n
o
t
u
s
e
an
ex
p
licit
en
v
ir
o
n
m
en
t
r
ep
r
esen
tatio
n
wh
atso
ev
er
.
T
h
ey
a
r
e
d
ep
e
n
d
en
t
u
p
o
n
t
h
e
in
f
o
r
m
atio
n
s
en
s
o
r
s
y
s
tem
s
to
m
o
n
ito
r
th
e
en
v
ir
o
n
m
en
t a
s
ex
p
lain
ed
[
6
]
.
O
n
th
e
o
th
er
h
a
n
d
,
th
e
m
o
s
t
r
ec
o
g
n
ized
m
eth
o
d
s
f
o
r
o
b
s
tac
le
av
o
id
a
n
ce
a
r
e
p
r
esen
ted
in
[
6
]
,
[
27
]
,
[
4
7
]
as th
e
f
o
llo
win
g
:
a.
T
h
e
b
u
g
alg
o
r
ith
m
:
is
o
n
e
o
f
th
e
an
cien
t
alg
o
r
ith
m
s
.
I
t
ca
n
en
ab
le
a
r
o
b
o
t
f
o
r
tr
ac
k
in
g
th
e
co
n
to
u
r
o
f
o
b
s
tacle
s
f
o
u
n
d
i
n
th
e
p
ath
’
s
a
n
d
d
ec
id
e
o
n
m
o
s
t
s
u
itab
le
p
o
in
t
to
m
o
v
e
to
war
d
a
g
o
al.
On
e
o
f
th
e
m
ain
d
is
ad
v
an
tag
es
o
f
th
is
ty
p
e
o
f
alg
o
r
ith
m
is
th
at
t
h
e
b
e
h
av
i
o
r
o
f
r
o
b
o
ts
at
ce
r
tain
tim
es
is
u
s
u
ally
a
f
u
n
ctio
n
th
at
o
n
ly
co
n
s
id
er
s
t
h
e
latest
s
en
s
o
r
r
ea
d
in
g
s
.
T
h
i
s
ca
n
ca
u
s
e
u
n
wan
te
d
p
r
o
b
le
m
s
b
u
t
ca
n
b
e
p
r
ev
en
ted
if
a
m
o
m
en
ta
r
y
r
e
ad
in
g
o
f
th
e
r
o
b
o
t
s
en
s
o
r
d
o
es
n
o
t
p
r
o
v
id
e
e
n
o
u
g
h
in
f
o
r
m
atio
n
to
a
v
o
i
d
co
llis
io
n
s
[
2
]
,
[
6
]
,
[
4
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
6
,
Dec
em
b
e
r
2
0
2
1
:
4
8
9
1
-
4
9
0
6
4900
b.
T
h
e
h
is
to
g
r
am
o
f
t
h
e
v
ec
to
r
f
ield
:
T
h
is
m
eth
o
d
u
tili
ze
s
a
two
-
d
im
en
s
io
n
al
g
r
id
o
f
th
e
h
is
to
g
r
am
to
s
im
u
late
an
en
v
ir
o
n
m
e
n
t,
wh
i
ch
h
as
b
ee
n
s
im
p
lifie
d
i
n
to
a
1
-
D
"p
o
lar
h
is
to
g
r
a
m
"
wh
ich
is
co
n
s
tr
u
cted
s
u
r
r
o
u
n
d
in
g
a
r
o
b
o
t'
s
p
o
s
itio
n
at
a
g
iv
en
tim
e.
T
h
e
r
o
b
o
t
d
ir
ec
tio
n
is
r
eg
u
lated
with
th
e
s
elec
tio
n
o
f
a
s
ec
to
r
th
at
h
as
th
e
least
n
u
m
b
er
o
f
th
e
o
b
s
tacle
s
.
Ma
p
s
ar
e
co
n
s
tan
tly
u
p
d
ated
b
y
r
o
b
o
t
s
en
s
o
r
s
with
th
e
d
ata
th
at
is
ass
o
ciate
d
with
d
is
tan
ce
b
etwe
en
r
o
b
o
ts
an
d
o
b
s
tacle
s
.
T
h
is
alg
o
r
ith
m
is
im
p
r
o
v
ed
b
y
co
n
s
id
er
in
g
t
h
e
s
ize
o
f
th
e
r
o
b
o
t a
n
d
s
elec
tin
g
s
af
e
an
d
ef
f
ec
tiv
e
an
g
les [
2
7
]
,
[
4
7
]
.
c.
Dy
n
am
ic
win
d
o
w
m
e
th
o
d
s
:
T
h
e
m
ain
co
n
ce
p
t
is
s
elec
tin
g
a
co
n
tr
o
l
in
th
e
r
o
b
o
t
s
p
ee
d
s
p
a
ce
.
T
h
e
r
o
b
o
t
p
ath
co
n
s
is
ts
o
f
a
"set
o
f
th
e
cir
cu
lar
ar
cs".
Ar
c
is
d
ef
in
ed
w
ith
th
e
u
s
e
o
f
th
e
v
ec
to
r
o
f
th
e
v
elo
city
(
v
i,
wi)
,
wh
er
e
(
v
i)
r
ep
r
esen
ts
f
o
r
war
d
v
elo
city
an
d
(
wi)
r
e
p
r
esen
ts
r
o
tatio
n
al
v
elo
city
;
th
e
tw
o
v
ar
iab
les
ar
e
r
ef
lectin
g
s
ea
r
ch
ar
e
a
[
4
5
]
,
[
4
7
]
.
T
h
is
m
eth
o
d
i
n
clu
d
es
th
r
ee
v
e
lo
city
-
an
g
u
la
r
win
d
o
ws
(
V
r
=V
s
∩
V
a
∩
V
d
)
.
W
h
er
e
(
V
s
)
is
ar
ea
,
(
V
a
)
wh
er
e
th
e
r
o
b
o
t c
a
n
n
o
t m
o
v
e
an
d
ev
a
d
e
co
llis
io
n
s
,
an
d
(
V
d
)
r
ep
r
esen
ted
a
d
y
n
am
ic
win
d
o
w
[
6
,
4
7
]
.
a.
Nea
r
n
ess
d
iag
r
am
(
ND)
:
is
an
ap
p
r
o
ac
h
th
at
u
s
es
a
"d
iv
id
e
an
d
co
n
q
u
er
"
m
eth
o
d
.
T
h
is
ap
p
r
o
ac
h
d
iv
id
es
th
e
wo
r
k
e
n
v
ir
o
n
m
en
t
to
v
ar
i
o
u
s
ar
ea
s
to
in
d
icate
th
e
p
o
s
itio
n
o
f
o
b
s
tacle
s
.
T
h
e
ND
ap
p
r
o
ac
h
u
tili
ze
s
a
p
ar
ad
ig
m
o
f
“sit
u
ated
ac
tiv
ity
”
b
a
s
ed
o
n
b
eh
a
v
io
r
.
T
h
is
id
ea
u
s
es
a
p
r
ed
eter
m
in
ed
g
r
o
u
p
o
f
co
n
d
itio
n
s
,
co
n
s
is
tin
g
o
f
a
v
ar
iety
o
f
ap
p
r
o
p
r
iate
p
r
o
b
lem
s
an
d
ac
tio
n
s
.
I
n
th
e
ca
s
e
wh
er
e
th
e
ap
p
r
o
ac
h
h
as
b
ee
n
ca
r
r
ied
o
u
t,
th
e
cu
r
r
en
t sit
u
ati
o
n
is
s
p
ec
if
ied
an
d
ap
p
r
o
p
r
iate
ac
tio
n
s
ar
e
tak
en
f
r
o
m
[6
]
,
[
27
]
,
[
4
7
]
.
5.
NAVIG
AT
I
O
N
SYST
E
M
On
e
o
f
m
o
s
t
im
p
o
r
tan
t
an
d
v
ital
p
r
o
b
lem
s
in
th
e
s
tu
d
ies
o
f
th
e
m
o
b
ile
r
o
b
o
ts
r
elate
d
to
n
av
ig
atio
n
s
y
s
tem
s
b
ec
au
s
e
th
e
n
ee
d
to
d
ef
in
e
th
em
clea
r
ly
at
th
e
d
esig
n
s
tag
e.
T
h
e
g
o
al
is
f
o
r
a
r
o
b
o
t
to
b
e
m
o
v
in
g
f
r
o
m
a
p
lace
to
a
d
if
f
er
en
t
o
n
e
in
an
u
n
k
n
o
wn
o
r
k
n
o
wn
en
v
ir
o
n
m
en
t,
co
n
s
id
er
in
g
th
e
s
en
s
o
r
v
alu
es
to
ac
h
iev
e
th
e
wan
ted
g
o
al.
W
h
ich
m
ea
n
s
th
at
th
e
r
o
b
o
ts
m
u
s
t
d
ep
en
d
u
p
o
n
s
o
m
e
o
th
er
asp
ec
ts
,
lik
e
th
e
p
er
ce
p
tio
n
,
lo
ca
lizatio
n
,
co
g
n
itio
n
,
an
d
m
o
tio
n
co
n
tr
o
l.
I
n
m
o
s
t
ca
s
es,
th
e
m
o
v
in
g
r
o
b
o
t
is
u
n
ab
le
to
tr
av
el
th
e
s
tr
aig
h
t
p
ath
f
r
o
m
th
e
s
tar
tin
g
lo
ca
tio
n
to
its
d
esti
n
atio
n
.
I
t
is
v
er
y
im
p
o
r
tan
t
to
p
r
o
v
id
e
en
o
u
g
h
o
f
th
e
in
f
o
r
m
atio
n
o
n
th
e
lo
ca
tio
n
o
f
th
e
r
o
b
o
t
to
m
o
v
e.
T
h
at
is
wh
y
,
th
e
m
eth
o
d
s
o
f
th
e
lo
ca
lizatio
n
h
av
e
b
ee
n
co
n
s
id
er
ed
k
ey
to
n
av
ig
atio
n
p
r
o
ce
s
s
[
4
9
]
.
I
n
ad
d
itio
n
,
n
av
ig
atin
g
a
m
o
v
in
g
r
o
b
o
t
r
eq
u
ir
es
ad
d
itio
n
al
s
k
ills
,
in
clu
d
in
g
co
n
tr
o
l
ca
p
ab
ilit
ies,
tr
ajec
to
r
y
p
lan
n
in
g
,
o
b
s
tacle
av
o
id
an
ce
,
an
d
s
af
e
d
is
tan
ce
s
to
th
e
g
o
al,
wh
ich
m
o
b
ile
r
o
b
o
ts
n
ee
d
to
p
er
f
o
r
m
to
p
r
o
v
id
e
s
u
p
er
io
r
n
av
ig
atio
n
.
E
v
er
y
o
n
e
o
f
th
e
n
av
ig
atio
n
s
y
s
tem
s
m
u
s
t
co
n
s
id
er
th
e
g
en
er
al
d
esig
n
m
en
tio
n
ed
ab
o
v
e
to
en
s
u
r
e
th
at
all
task
s
ca
n
b
e
m
et
[
3
]
,
[
6
]
,
[
5
0
]
.
Ov
er
th
e
p
ast
two
d
ec
ad
es,
r
esear
ch
er
s
h
av
e
s
tu
d
ied
th
e
p
r
o
b
lem
s
,
m
eth
o
d
s
,
an
d
ap
p
lica
tio
n
s
o
f
m
o
b
ile
r
o
b
o
t’
s
n
av
ig
atio
n
s
y
s
tem
s
.
Mo
b
ile
r
o
b
o
t
n
av
ig
atio
n
h
as
b
ee
n
tak
en
u
n
d
er
co
n
s
id
er
atio
n
as
o
n
e
o
f
th
e
m
ajo
r
ar
ea
s
o
f
ap
p
licatio
n
th
at
is
g
ain
in
g
a
lo
t
o
f
atten
tio
n
d
u
e
to
its
wid
e
r
an
g
e
o
f
p
o
ten
tial
ap
p
licatio
n
s
[
2
]
,
[
3
]
,
[
5
0
]
.
I
n
ad
d
itio
n
,
th
er
e
ar
e
m
an
y
wo
r
k
s
o
f
r
esear
ch
in
wh
ich
p
eo
p
le
h
av
e
tr
ied
to
s
o
lv
e
th
e
n
av
ig
atio
n
is
s
u
e
an
d
ex
am
p
les
o
f
th
eir
s
u
cc
ess
f
u
l a
p
p
licatio
n
s
.
C
h
o
u
an
d
L
ian
[
5
1
]
p
r
esen
ted
a
n
ew
n
av
ig
atio
n
m
eth
o
d
th
at
ca
n
ef
f
ec
tiv
ely
u
s
e
s
en
s
o
r
y
in
f
o
r
m
atio
n
to
h
an
d
le
u
n
k
n
o
wn
an
d
ch
an
g
in
g
en
v
ir
o
n
m
en
ts
,
th
at
ca
lled
th
e
d
y
n
am
ic
win
d
o
w
ap
p
r
o
ac
h
*
(
DW
A
*
)
.
DW
A
*
is
a
lo
ca
l
r
ea
ctiv
e
n
av
ig
atio
n
,
b
ased
o
n
th
e
DW
A
s
p
ac
e
v
elo
city
ap
p
r
o
ac
h
,
wh
ich
d
ir
ec
tly
s
ee
k
s
th
e
o
p
tim
al
s
p
ee
d
co
m
m
an
d
f
r
o
m
a
s
et
o
f
all
s
p
ee
d
s
ex
ec
u
ted
f
o
r
a
r
o
b
o
t.
T
h
is
m
et
h
o
d
p
r
o
v
id
es
f
ast
an
d
s
m
o
o
th
n
av
ig
atio
n
with
n
o
lo
ca
l m
in
im
u
m
.
Mo
r
eo
v
er
,
v
ar
io
u
s
alg
o
r
ith
m
s
h
av
e
b
ee
n
s
u
g
g
ested
to
p
lan
th
e
n
av
ig
atio
n
o
f
r
o
b
o
ts
u
n
d
er
m
an
y
co
n
d
itio
n
s
.
On
e
o
f
th
e
m
o
s
t e
x
citin
g
is
s
u
e
is
to
co
n
tr
o
l
th
e
n
av
ig
atio
n
o
f
th
e
r
o
b
o
t
[
5
2
]
.
T
h
er
ef
o
r
e
,
Kala
et
a
l.
[
5
3
]
p
r
o
p
o
s
ed
to
f
in
d
th
e
m
o
s
t
o
p
tim
al
r
o
b
o
tic
p
ath
u
s
in
g
g
en
etic
alg
o
r
ith
m
s
,
ar
tific
ial
n
eu
r
al
n
etwo
r
k
s
,
an
d
A
*
alg
o
r
ith
m
s
at
an
y
tim
e
o
f
th
e
r
o
b
o
t'
s
tr
av
el.
T
h
e
r
o
b
o
t
p
h
y
s
ically
m
o
v
es
ac
co
r
d
in
g
to
th
is
r
esu
lt.
Als
o
,
th
is
m
eth
o
d
ca
n
b
e
u
s
ed
to
allo
w
m
an
y
r
o
b
o
ts
to
m
o
v
e
to
g
eth
er
in
o
n
e
p
lace
.
On
th
e
o
th
er
h
an
d
,
Nu
r
m
ain
i
an
d
T
u
tu
k
o
[
5
0
]
p
r
o
p
o
s
ed
in
tellig
en
t
n
av
ig
atio
n
s
y
s
tem
s
b
ased
o
n
in
d
iv
id
u
al
attr
ib
u
tes
o
r
b
io
lo
g
ical
s
tr
u
ctu
r
es
o
f
s
o
cial
an
im
als,
s
tar
tin
g
with
o
n
e
r
o
b
o
t,
m
u
lti
r
o
b
o
ts
an
d
s
war
m
r
o
b
o
ts
f
r
o
m
a
s
p
ec
if
ic
p
o
in
t
o
f
v
iew.
T
h
e
co
m
b
in
atio
n
o
f
n
av
ig
atio
n
s
y
s
tem
s
an
d
b
io
lo
g
ical
ap
p
r
o
ac
h
es
h
as
g
ain
ed
a
co
n
s
id
er
ab
le
am
o
u
n
t
o
f
th
e
atten
tio
n
.
T
h
is
m
ak
es
it
a
s
ig
n
if
ican
t
ar
ea
o
f
r
esear
ch
f
o
r
in
tellig
en
t
r
o
b
o
tic
s
y
s
tem
s
to
in
cr
ea
s
e
th
e
p
er
f
o
r
m
an
ce
as
well
as
ad
d
r
ess
th
e
wea
k
n
ess
es
ass
o
ciate
d
with
m
o
b
ile
r
o
b
o
t
n
av
ig
atio
n
s
[
5
4
]
.
On
to
p
o
f
th
at,
th
e
in
tellig
en
t
co
m
p
u
tin
g
alg
o
r
ith
m
s
th
at
in
clu
d
e
s
war
m
’
s
in
tellig
en
ce
an
d
s
o
f
t
co
m
p
u
tin
g
h
av
e
b
ee
n
r
ated
as
p
o
wer
f
u
l
m
eth
o
d
s
th
at
m
ay
b
e
p
r
o
v
id
in
g
s
o
l
u
tio
n
s
with
o
u
t
en
v
ir
o
n
m
en
tal
m
o
d
elin
g
.
T
h
u
s
,
a
n
ew
n
av
ig
atio
n
m
eth
o
d
o
lo
g
y
b
ased
u
p
o
n
n
eu
r
al
n
etwo
r
k
s
(
NNs)
f
o
r
in
tellig
en
t
au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
in
a
s
tr
u
ctu
r
ed
m
az
e
en
v
ir
o
n
m
en
t
is
p
r
esen
ted
in
[
5
5
]
.
T
h
r
o
u
g
h
n
eu
r
al
b
ac
k
p
r
o
p
ag
atio
n
n
etwo
r
k
s
,
r
o
b
o
ts
lear
n
d
u
r
in
g
th
e
n
av
ig
atio
n
p
r
o
ce
s
s
f
r
o
m
s
en
s
o
r
s
,
u
p
d
ate
th
is
o
n
e
an
d
u
tili
ze
it
f
o
r
p
lan
n
in
g
an
d
co
n
tr
o
l
n
av
ig
atio
n
s
in
tellig
en
tly
.
Mo
r
eo
v
er
,
th
is
m
eth
o
d
co
n
tr
ib
u
tes
p
o
s
itiv
ely
to
d
ec
r
ea
s
e
th
e
tim
e
d
esire
d
to
tr
ain
th
e
n
etwo
r
k
.
Neu
r
al
n
etwo
r
k
co
n
tr
o
ller
s
ar
e
id
ea
l
f
o
r
lear
n
in
g
g
en
er
al
n
av
ig
atio
n
an
d
r
ea
l
-
tim
e
in
tellig
en
ce
.
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