(13th-March-2020)
The top layer, follow plan, is given a plan - a list of named locations to visit in order. These are the kinds of targets that could be produced by a planner, such as those developed in here. The top layer is also told when the robot has arrived at the previous target. It must output target coordinates to the middle layer, and remember what it needs to carry out the plan. The top layer is shown in Figure.
Simulation exampleis following figure.
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