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In the worst case, the robotic may switch between behaviors with every iteration of the management loop—a state generally recognized as a Zeno condition. As it turns out, nonetheless, this logic will produce a lot of issues. When an obstacle is detected, swap to the avoid-obstacles behavior until the impediment is now not detected. A hybrid automaton is programmed with a number of totally different behaviors, or modes, as well as a supervising state machine. So far we’ve described two behaviors—go-to-goal and avoid-obstacles—in isolation. Instead of running headlong into things in our means, let’s try to program a control law that makes the robotic keep away from them.
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