The EG strategy moves a real Pioneer 3-DX robot in an environment with a spiral-shaped obstacle and several narrow passages.

Click here to see or download the video (for a better visualization, we recommend to download it).

The above figure shows the environment where this experiment took place. As can be observed, boxes and panels have been strategically spread over the environment to form a large spiral with three narrow passages (these passages are labelled with the letters A, B, and C; additionally, it is important to stress that, when we say “narrow”, we mean that the passage is just a few centimeters wider than the robot’s footprint).