(20th-March-2020)
When the plan ends, the robot will just keep the last target position as its target position and keep circling forever.
Change the definition so that the robot goes back to its home and circles there.
Even without obstacles, the robot may never reach its destination. For example, if it is next to its target position, it may keep circling forever without reaching its target.
Design a controller that can detect this situation and find its way to the target.
Change the controller so that the robot senses the environment to determine the coordinates of a location. Assume that the body can provide the coordinates of a named location.
Suppose you have a new job and must build a controller for an intelligent robot. You tell your bosses that you just have to implement a command function and a state transition function. They are very skeptical. Why these functions? Why only these? Explain why a controller requires a command function and a state transition function, but not other functions. Use proper English. Be concise.
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