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I
J
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Vo
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14
,
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.
3
,
Sep
tem
b
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20
25
,
p
p
.
3
3
9
~
3
4
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I
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2
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20
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3
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4
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co
g
n
itiv
e
s
y
s
tem
s
.
T
h
e
o
v
er
ar
c
h
in
g
g
o
al
is
to
cr
ea
te
m
ac
h
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es
ca
p
ab
le
o
f
r
esp
o
n
d
in
g
to
co
m
p
le
x
en
v
ir
o
n
m
en
ts
,
ad
ap
tin
g
to
n
e
w
task
s
,
an
d
co
llab
o
r
atin
g
wit
h
h
u
m
a
n
s
s
ea
m
less
ly
.
W
ith
th
e
r
is
e
o
f
L
L
Ms,
th
e
in
ter
s
ec
tio
n
b
etwe
en
n
atu
r
al
lan
g
u
ag
e
u
n
d
er
s
tan
d
in
g
an
d
m
ec
h
an
ical
ac
t
u
atio
n
h
as
b
r
o
u
g
h
t
f
o
r
th
n
ew
d
im
en
s
io
n
s
o
f
in
ter
ac
tio
n
[
1
4
]
,
[
1
5
]
.
T
h
is
s
tu
d
y
ex
p
lo
r
es
th
e
in
teg
r
atio
n
o
f
L
L
M
-
b
ased
co
n
tr
o
l
with
co
m
p
u
te
r
v
is
io
n
an
d
m
o
to
r
ac
t
u
atio
n
to
ac
h
iev
e
r
o
b
u
s
t r
ea
l
-
tim
e
ad
a
p
tab
ilit
y
an
d
h
u
m
an
-
lik
e
in
ter
ac
tio
n
.
T
h
e
p
r
o
p
o
s
ed
p
r
o
ject
lev
er
a
g
es
th
ese
ad
v
a
n
ce
m
en
ts
to
c
r
ea
te
a
s
y
s
tem
th
at
c
o
m
b
in
e
s
h
ar
d
war
e
p
r
ec
is
io
n
with
AI
-
d
r
iv
e
n
in
te
llig
en
ce
.
T
h
is
p
r
o
ject
aim
s
to
o
v
er
co
m
e
t
h
e
lim
itatio
n
s
o
f
tr
ad
itio
n
al
s
en
s
o
r
-
b
ased
r
o
b
o
ts
b
y
in
co
r
p
o
r
atin
g
r
ea
l
-
tim
e
d
ec
is
io
n
-
m
a
k
in
g
ca
p
ab
ilit
ies
p
o
wer
ed
b
y
L
L
Ms.
T
h
e
k
ey
f
in
d
in
g
o
f
th
is
s
tu
d
y
is
th
at
in
teg
r
atin
g
la
r
g
e
lan
g
u
a
g
e
m
o
d
els
(
L
L
Ms)
with
au
to
n
o
m
o
u
s
r
o
b
o
tics
s
ig
n
if
ican
tly
en
h
an
ce
s
th
e
r
o
b
o
t'
s
ab
ilit
y
to
in
ter
p
r
et
n
atu
r
al
lan
g
u
ag
e
co
m
m
an
d
s
an
d
m
ak
e
r
ea
l
-
tim
e
d
ec
is
io
n
s
.
T
h
is
ap
p
r
o
ac
h
im
p
r
o
v
es
ad
a
p
tab
ilit
y
,
u
s
er
in
ter
ac
tio
n
,
an
d
au
to
n
o
m
o
u
s
n
av
ig
atio
n
c
o
m
p
a
r
ed
to
tr
a
d
itio
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al
r
u
le
-
b
ased
s
y
s
tem
s
.
T
h
e
liter
atu
r
e
s
u
r
v
ey
as
s
h
o
w
n
in
T
ab
le
1
ex
p
lo
r
es
ad
v
a
n
ce
m
en
ts
in
r
o
b
o
tics
,
in
clu
d
in
g
L
L
M
-
b
ased
d
ec
is
io
n
-
m
ak
in
g
,
m
ac
h
in
e
v
is
i
o
n
f
o
r
n
av
ig
atio
n
,
an
d
m
o
d
u
la
r
s
y
s
tem
ar
ch
itectu
r
es.
T
h
e
d
is
cu
s
s
io
n
h
ig
h
lig
h
ts
g
ap
s
s
u
ch
as
th
e
lack
o
f
h
a
r
d
war
e
-
s
o
f
twar
e
in
teg
r
atio
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,
li
m
ited
s
ca
lab
ilit
y
,
an
d
in
a
d
eq
u
ate
ad
ap
tab
ilit
y
in
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
.
R
esear
ch
in
s
ig
h
ts
in
clu
d
e
s
tu
d
ies
o
n
GPT
m
o
d
els
f
o
r
n
atu
r
al
la
n
g
u
ag
e
p
r
o
ce
s
s
in
g
,
YOL
O
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b
ased
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b
ject
d
etec
tio
n
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an
d
f
r
am
ewo
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k
s
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o
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to
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s
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ec
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n
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m
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g
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o
r
m
in
g
th
e
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o
u
n
d
atio
n
f
o
r
th
e
p
r
o
p
o
s
ed
s
y
s
tem
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T
ab
le
1
.
C
o
m
p
a
r
ativ
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aly
s
is
T
i
t
l
e
C
o
m
m
a
n
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t
e
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r
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t
a
t
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o
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c
c
u
r
a
c
y
(
%
)
Real
-
t
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m
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d
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i
s
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o
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l
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t
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n
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y
(
m
s
)
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v
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g
a
t
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o
n
e
f
f
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i
e
n
c
y
(
%
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E
r
r
o
r
r
a
t
e
i
n
o
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s
t
a
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l
e
d
e
t
e
c
t
i
o
n
(
%
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I
n
t
e
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l
i
D
r
i
v
e
A
u
t
o
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m
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s
R
o
b
o
t
89
1
7
0
88
5
C
h
a
t
G
P
T
-
C
o
n
t
r
o
l
l
e
d
R
o
b
o
t
[
1
6
]
89
1
6
0
80
8
R
e
i
n
f
o
r
c
e
m
e
n
t
L
e
a
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n
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n
g
-
b
a
s
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d
R
o
b
o
t
[
1
7
]
90
1
6
0
85
7
D
e
e
p
L
e
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r
n
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n
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u
t
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n
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m
o
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s
D
r
i
v
i
n
g
R
o
b
o
t
[
1
8
]
88
1
8
0
82
6
T
h
is
p
ap
er
in
tr
o
d
u
ce
an
in
n
o
v
ativ
e
ap
p
r
o
ac
h
th
at
m
e
r
g
e
s
lar
g
e
lan
g
u
ag
e
m
o
d
els
(
L
L
Ms)
with
b
eh
av
io
r
tr
ee
s
(
B
T
s
)
.
T
h
is
m
e
th
o
d
d
y
n
am
ically
a
d
ap
ts
r
o
b
o
t
ic
task
s
to
en
v
ir
o
n
m
en
tal
ch
a
n
g
es
b
y
lev
e
r
ag
in
g
C
h
atGPT
f
o
r
r
ea
l
-
tim
e
r
ea
s
o
n
in
g
an
d
a
s
em
an
tic
m
ap
p
in
g
f
r
am
ewo
r
k
f
o
r
task
ex
ec
u
tio
n
.
T
h
e
u
s
e
o
f
L
L
Ms
en
h
an
ce
s
th
e
ab
ilit
y
o
f
B
T
s
to
h
an
d
le
u
n
f
o
r
eseen
ev
en
ts
,
im
p
r
o
v
in
g
ad
ap
tab
ilit
y
an
d
r
o
b
u
s
tn
ess
in
task
m
an
ag
em
en
t
[
1
9
]
,
[
2
0
]
.
B
h
ar
ath
i
et
a
l
.
[
2
1
]
e
x
p
lo
r
e
d
th
e
t
r
an
s
f
o
r
m
ativ
e
r
o
le
o
f
m
ac
h
in
e
v
is
io
n
in
r
o
b
o
tic
s
y
s
tem
s
.
T
h
e
s
tu
d
y
h
ig
h
lig
h
ts
k
ey
tech
n
o
lo
g
ies
s
u
ch
as
co
n
v
o
lu
tio
n
al
n
e
u
r
al
n
etwo
r
k
s
(
C
NNs)
f
o
r
r
ea
l
-
tim
e
o
b
ject
d
etec
tio
n
a
n
d
s
im
u
l
tan
eo
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SLAM
)
f
o
r
au
to
n
o
m
o
u
s
n
a
v
ig
atio
n
.
Ap
p
licatio
n
s
in
clu
d
e
d
e
f
ec
t
d
etec
tio
n
,
q
u
ality
ass
u
r
an
ce
,
a
n
d
n
av
ig
atio
n
in
m
an
u
f
ac
tu
r
i
n
g
a
n
d
h
ea
lth
ca
r
e,
em
p
h
asizin
g
th
e
p
r
ec
is
io
n
an
d
ad
ap
tab
ilit
y
o
f
f
er
ed
b
y
m
ac
h
i
n
e
v
is
io
n
.
T
h
is
r
esear
ch
i
n
v
esti
g
ate
th
e
i
n
teg
r
atio
n
o
f
L
L
Ms
an
d
g
en
e
r
ativ
e
AI
(
Gen
AI
)
i
n
h
u
m
an
o
id
r
o
b
o
ts
.
T
h
is
h
y
b
r
i
d
m
o
d
el
s
ig
n
if
ican
t
ly
en
h
an
ce
s
n
atu
r
al
lan
g
u
ag
e
p
r
o
ce
s
s
in
g
an
d
em
o
tio
n
al
in
t
ellig
en
ce
,
en
ab
lin
g
in
tu
itiv
e
in
ter
ac
tio
n
s
with
h
u
m
an
s
.
T
h
e
r
esear
ch
f
o
c
u
s
es
o
n
eth
ical
AI
d
ep
lo
y
m
en
t
to
ass
is
t
v
u
ln
er
ab
le
p
o
p
u
latio
n
s
s
u
ch
as
th
e
eld
er
l
y
an
d
d
is
ab
led
[
2
2
]
.
T
h
is
f
r
am
ewo
r
k
au
to
m
ates
co
m
p
lex
r
o
b
o
tic
d
ev
elo
p
m
en
t
task
s
,
in
clu
d
in
g
co
d
e
g
e
n
er
ati
o
n
an
d
p
a
r
am
eter
tu
n
i
n
g
.
T
h
e
s
tu
d
y
d
em
o
n
s
tr
ates
th
e
f
r
am
ewo
r
k
'
s
ef
f
icac
y
in
s
im
p
lify
in
g
r
o
b
o
tics
d
ev
elo
p
m
en
t f
o
r
n
o
n
-
ex
p
e
r
ts
,
v
alid
ated
th
r
o
u
g
h
ex
p
er
im
en
ts
o
n
q
u
a
d
r
u
p
ed
r
o
b
o
ts
[
2
3
]
.
2.
P
RO
P
O
SE
D
M
E
T
H
O
D
E
x
is
tin
g
au
to
n
o
m
o
u
s
r
o
b
o
tic
s
y
s
tem
s
ar
e
o
f
ten
lim
ited
b
y
th
eir
r
elian
ce
o
n
p
r
ed
e
f
in
ed
a
lg
o
r
ith
m
s
,
s
en
s
o
r
d
ata,
an
d
r
u
le
-
b
ased
m
ec
h
an
is
m
s
.
T
h
ese
s
y
s
tem
s
lack
f
lex
i
b
ilit
y
an
d
ad
a
p
t
ab
ilit
y
in
d
y
n
a
m
ic
en
v
ir
o
n
m
en
ts
,
as th
ey
d
e
p
en
d
h
ea
v
ily
o
n
p
r
e
-
p
r
o
g
r
am
m
e
d
in
s
tr
u
ctio
n
s
an
d
s
p
ec
if
ic
s
en
s
o
r
co
n
f
ig
u
r
atio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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-
2
5
8
6
I
n
telliDr
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u
to
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mo
u
s
r
o
b
o
t p
o
w
ered
b
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el
(
I
mra
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Ulla
K
h
a
n
)
341
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
a
d
d
r
ess
es
th
e
lim
itatio
n
s
o
f
ex
is
tin
g
s
y
s
tem
s
b
y
in
teg
r
atin
g
h
ar
d
war
e
p
r
ec
is
io
n
with
ad
v
an
ce
d
AI
ca
p
ab
ilit
ies.
T
h
e
s
y
s
tem
lev
er
ag
es
lar
g
e
lan
g
u
ag
e
m
o
d
els
(
L
L
Ms)
to
en
ab
le
n
atu
r
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g
u
ag
e
c
o
m
m
an
d
in
ter
p
r
etatio
n
an
d
ad
ap
tiv
e
d
ec
is
io
n
-
m
a
k
in
g
.
B
elo
w
ar
e
th
e
k
ey
f
ea
tu
r
es
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
[
2
4
]
.
a.
T
h
e
r
o
b
o
t in
teg
r
ates L
L
M
to
u
n
d
er
s
tan
d
a
n
d
ex
ec
u
te
co
m
p
lex
n
atu
r
al
lan
g
u
ag
e
co
m
m
a
n
d
s
.
b.
I
t
p
r
o
ce
s
s
es
en
v
ir
o
n
m
e
n
tal
in
p
u
ts
to
g
en
er
ate
m
o
to
r
co
n
tr
o
l
co
m
m
an
d
s
d
y
n
am
ically
,
en
a
b
lin
g
r
ea
l
-
tim
e
d
ec
is
io
n
-
m
ak
in
g
.
c.
C
o
s
t
-
ef
f
ec
tiv
e
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ar
d
war
e,
in
clu
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in
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R
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Pi,
B
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a
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m
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s
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with
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ality
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2
7
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[
2
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as sh
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m
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r
co
n
tr
o
l
an
d
p
r
o
v
id
e
s
f
ee
d
b
ac
k
f
o
r
c
o
n
tin
u
o
u
s
r
ef
i
n
e
m
en
t.
PW
M
C
yc
l
e
=
100
(
6
)
3
.
4
.
I
m
ple
m
ent
a
t
io
n
T
h
e
im
p
lem
en
tatio
n
p
h
ase
in
v
o
lv
es
tr
an
s
latin
g
th
e
s
y
s
tem
d
esig
n
in
to
a
wo
r
k
in
g
m
o
d
e
l
th
r
o
u
g
h
co
d
in
g
,
h
a
r
d
war
e
in
teg
r
atio
n
,
an
d
s
o
f
twar
e
co
n
f
ig
u
r
atio
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
is
im
p
lem
en
ted
u
s
in
g
a
m
o
d
u
lar
a
p
p
r
o
ac
h
,
en
s
u
r
in
g
th
at
in
d
iv
id
u
al
c
o
m
p
o
n
en
ts
ar
e
d
ev
elo
p
ed
an
d
test
ed
in
d
ep
en
d
e
n
tly
b
ef
o
r
e
in
teg
r
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
I
n
telliDr
ive
a
u
to
n
o
mo
u
s
r
o
b
o
t p
o
w
ered
b
y
la
r
g
e
la
n
g
u
a
g
e
mo
d
el
(
I
mra
n
Ulla
K
h
a
n
)
343
3
.
4
.
1
.
H
a
rdwa
re
I
m
plem
ent
a
t
io
n
T
h
e
h
ar
d
war
e
im
p
lem
e
n
tatio
n
o
f
th
e
I
n
telliDr
iv
e
Au
to
n
o
m
o
u
s
R
o
v
er
in
v
o
lv
ed
ca
r
ef
u
lly
a
s
s
em
b
lin
g
an
d
in
teg
r
atin
g
its
p
h
y
s
ical
c
o
m
p
o
n
en
ts
to
en
s
u
r
e
s
ea
m
less
in
ter
ac
tio
n
as
s
h
o
wn
in
Fig
u
r
e
2
(
a
)
.
A
s
tu
r
d
y
f
o
u
r
-
w
h
ee
led
ch
ass
is
was
u
s
ed
to
h
o
u
s
e
th
e
co
m
p
o
n
e
n
ts
,
with
B
O
m
o
to
r
s
s
ec
u
r
ely
m
o
u
n
ted
t
o
p
r
o
v
id
e
m
o
b
ilit
y
.
T
h
e
L
2
9
8
N
m
o
to
r
d
r
iv
er
was
c
o
n
n
ec
te
d
to
th
e
R
asp
b
er
r
y
Pi
GPI
O
p
i
n
s
an
d
B
O
m
o
to
r
s
,
with
PW
M
s
ig
n
als
co
n
f
ig
u
r
ed
f
o
r
p
r
ec
is
e
s
p
ee
d
an
d
d
ir
ec
tio
n
c
o
n
tr
o
l.
As
s
h
o
wn
in
Fig
u
r
e
2
(
b
)
a
we
b
ca
m
was
m
o
u
n
te
d
at
an
o
p
tim
al
a
n
g
le
t
o
ca
p
tu
r
e
th
e
en
v
ir
o
n
m
e
n
t,
e
n
ab
lin
g
ef
f
ec
tiv
e
im
ag
e
p
r
o
ce
s
s
in
g
f
o
r
n
av
ig
atio
n
.
A
co
m
p
u
ter
s
cr
ee
n
s
h
o
win
g
a
liv
e
ca
m
er
a
f
ee
d
with
c
o
d
e
f
o
r
c
o
n
tr
o
llin
g
a
r
o
b
o
t,
d
is
p
l
ay
in
g
a
co
m
m
an
d
in
ter
f
ac
e.
T
h
e
s
y
s
tem
was
p
o
wer
ed
b
y
a
r
ec
h
a
r
g
ea
b
le
lith
iu
m
-
io
n
b
atter
y
p
ac
k
,
wh
ich
s
u
p
p
lied
en
er
g
y
to
th
e
R
asp
b
er
r
y
Pi,
m
o
to
r
d
r
iv
e
r
,
an
d
m
o
to
r
s
.
(
a)
(
b
)
Fig
u
r
e
2
.
Har
d
war
e
im
p
lem
e
n
tatio
n
(
a)
r
o
b
o
t in
te
r
n
al
c
i
r
c
u
i
t
a
n
d
(
b
)
ca
m
er
a
ca
p
tu
r
in
g
e
n
v
i
r
o
n
m
e
n
t
3
.
4
.
2
.
So
f
t
wa
re
i
m
plem
ent
a
t
i
o
n
T
h
e
s
o
f
twar
e
im
p
lem
en
tatio
n
o
f
t
h
e
I
n
telliDr
iv
e
au
to
n
o
m
o
u
s
r
o
v
er
ce
n
ter
ed
o
n
p
r
o
g
r
a
m
m
in
g
th
e
s
y
s
tem
to
p
r
o
ce
s
s
in
p
u
ts
,
in
ter
ac
t
with
th
e
L
L
M
API
,
an
d
co
n
tr
o
l
th
e
r
o
b
o
t'
s
m
o
v
em
en
t
s
.
T
h
e
R
asp
b
er
r
y
Pi
was
co
n
f
ig
u
r
ed
b
y
in
s
tallin
g
R
asp
b
er
r
y
Pi
OS
alo
n
g
wit
h
ess
en
tial
lib
r
ar
ies
s
u
ch
as
Op
en
C
V
f
o
r
im
ag
e
p
r
o
ce
s
s
in
g
,
R
Pi.GPI
O
f
o
r
h
ar
d
war
e
co
n
tr
o
l,
an
d
th
e
L
L
M
API
clien
t
f
o
r
n
at
u
r
al
lan
g
u
a
g
e
p
r
o
ce
s
s
in
g
.
T
h
e
L
L
M
API
was
in
teg
r
ate
d
to
in
ter
p
r
et
u
s
er
c
o
m
m
a
n
d
s
,
with
s
ec
u
r
e
au
t
h
en
ticatio
n
to
k
en
s
an
d
en
d
p
o
in
ts
estab
lis
h
ed
f
o
r
s
ea
m
less
co
m
m
u
n
icatio
n
.
Op
en
C
V
was
u
tili
ze
d
to
p
r
o
ce
s
s
v
id
eo
f
ee
d
s
f
r
o
m
th
e
web
ca
m
,
en
ab
lin
g
r
ea
l
-
tim
e
n
a
v
ig
atio
n
an
d
o
b
s
tacle
d
etec
tio
n
as
s
h
o
wn
in
Fig
u
r
e
3
(
a)
with
YOL
Ov
5
b
y
ca
p
tu
r
in
g
an
d
an
aly
zin
g
f
r
am
es
to
g
e
n
er
at
e
n
av
ig
atio
n
in
p
u
ts
.
Py
th
o
n
s
cr
ip
ts
wer
e
d
ev
elo
p
e
d
to
tr
an
s
late
s
tr
u
ctu
r
ed
r
esp
o
n
s
es
f
r
o
m
th
e
L
L
M
API
in
to
m
o
to
r
d
r
iv
er
c
o
m
m
an
d
s
,
im
p
lem
en
tin
g
f
u
n
ctio
n
s
f
o
r
f
o
r
war
d
,
b
ac
k
war
d
,
lef
t,
an
d
r
ig
h
t
m
o
v
em
e
n
ts
.
T
h
is
in
teg
r
ated
s
o
f
twar
e
s
y
s
tem
en
s
u
r
ed
th
e
r
o
b
o
t'
s
ab
ilit
y
to
u
n
d
er
s
tan
d
co
m
m
an
d
s
,
in
ter
p
r
et
en
v
ir
o
n
m
en
tal
d
ata,
an
d
e
x
ec
u
te
p
r
ec
is
e
m
o
v
em
e
n
ts
ef
f
ec
ti
v
ely
.
As
s
h
o
w
n
in
Fig
u
r
e
3
(
b
)
th
e
r
e
is
an
o
th
er
an
g
le
o
f
th
e
r
o
b
o
t
ch
ass
is
,
f
o
cu
s
in
g
o
n
th
e
wh
ee
ls
an
d
m
o
to
r
co
n
n
ec
tio
n
s
av
o
id
in
g
th
e
o
b
s
tacle
.
(
a)
(
b
)
Fig
u
r
e
3
.
So
f
twar
e
im
p
lem
en
t
atio
n
(
a)
d
etec
tin
g
an
o
b
j
e
c
t
a
n
d
(
b
)
av
o
id
i
n
g
t
h
e
o
b
s
t
a
c
l
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
3
3
9
-
3
4
7
344
3
.
4
.
3
.
O
f
f
lin
e
f
a
llb
a
c
k
m
e
cha
nis
m
s
T
h
e
r
o
b
o
t
f
ac
es
p
r
o
ce
s
s
in
g
d
elay
s
d
u
r
in
g
L
L
M
-
b
ased
co
m
m
an
d
e
x
ec
u
tio
n
,
wh
ich
im
p
ac
ted
r
ea
l
-
tim
e
r
esp
o
n
s
iv
en
ess
.
I
t
r
elies
o
n
s
tab
le
in
ter
n
et
co
n
n
ec
tiv
ity
f
o
r
clo
u
d
-
b
ased
L
L
M
API
s
,
m
ak
in
g
it
v
u
ln
er
ab
l
e
to
n
etwo
r
k
d
is
r
u
p
tio
n
s
.
Sy
s
t
em
in
ac
cu
r
ately
in
ter
p
r
eted
co
m
m
an
d
s
,
lead
in
g
to
er
r
o
n
eo
u
s
ac
tio
n
s
an
d
co
m
p
r
o
m
is
in
g
o
p
er
atio
n
al
s
af
ety
.
Netwo
r
k
laten
cy
also
d
is
r
u
p
ted
r
ea
l
-
tim
e
n
a
v
ig
atio
n
.
T
o
ad
d
r
ess
n
etwo
r
k
laten
cy
an
d
c
o
n
n
ec
tiv
ity
ch
al
len
g
es,
we
h
av
e
im
p
lem
en
te
d
s
ev
er
al
o
f
f
li
n
e
f
allb
ac
k
m
e
ch
an
is
m
s
to
en
s
u
r
e
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
.
C
o
m
m
an
d
ca
ch
in
g
allo
ws
f
r
eq
u
e
n
tly
u
s
ed
o
r
cr
itical
co
m
m
an
d
s
(
s
u
ch
as
“
m
o
v
e
f
o
r
war
d
,
”
“
tu
r
n
lef
t,
”
an
d
“
s
to
p
”
)
to
b
e
s
to
r
ed
lo
ca
lly
,
en
a
b
lin
g
in
s
tan
t
r
esp
o
n
s
es
ev
en
d
u
r
in
g
co
n
n
ec
tiv
ity
is
s
u
es.
A
h
y
b
r
id
p
r
o
ce
s
s
in
g
a
p
p
r
o
ac
h
lev
er
ag
es
lig
h
tweig
h
t
p
r
e
-
tr
ain
ed
m
o
d
els
f
o
r
ess
en
tial
co
m
m
an
d
s
wh
ile
r
eser
v
in
g
clo
u
d
p
r
o
ce
s
s
in
g
f
o
r
m
o
r
e
co
m
p
lex
task
s
,
r
ed
u
cin
g
laten
c
y
with
o
u
t
s
a
cr
if
icin
g
ad
v
an
ce
d
ca
p
ab
ilit
ies.
W
e
h
av
e
also
in
co
r
p
o
r
ated
p
r
ee
m
p
tiv
e
co
m
m
an
d
ex
ec
u
tio
n
b
y
p
r
ed
icti
n
g
th
e
n
ex
t
lik
ely
co
m
m
an
d
d
u
r
i
n
g
n
etwo
r
k
in
s
t
ab
ilit
y
an
d
p
r
ep
ar
in
g
it lo
ca
lly
to
m
in
im
ize
r
esp
o
n
s
e
tim
e.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
esti
n
g
is
a
cr
u
cial
p
h
ase
in
th
e
d
e
v
elo
p
m
e
n
t
p
r
o
ce
s
s
th
at
e
n
s
u
r
es
th
e
s
y
s
tem
p
er
f
o
r
m
s
as
ex
p
ec
ted
an
d
m
ee
ts
th
e
d
e
f
in
ed
r
e
q
u
ir
e
m
en
ts
.
Ou
r
“
Au
to
n
o
m
o
u
s
R
o
b
o
t
with
L
L
M
-
B
ased
C
o
n
tr
o
l
”
u
n
d
er
wen
t r
ig
o
r
o
u
s
test
in
g
to
v
alid
ate
its
f
u
n
ctio
n
ality
,
r
eliab
ilit
y
,
an
d
p
er
f
o
r
m
a
n
ce
.
Her
e
we
h
av
e
d
is
cu
s
s
ed
t
h
e
v
a
r
io
u
s
ty
p
es
o
f
test
in
g
co
n
d
u
cted
,
in
clu
d
in
g
u
n
it
test
in
g
,
in
teg
r
atio
n
test
in
g
,
f
u
n
ctio
n
al
test
in
g
an
d
p
o
wer
co
n
s
u
m
p
tio
n
an
aly
s
is
.
4
.
1
.
Unit
t
est
Un
it
test
in
g
as
m
en
tio
n
ed
i
n
T
ab
le
2
was
co
n
d
u
cted
t
o
v
e
r
if
y
th
e
f
u
n
ctio
n
ality
o
f
in
d
iv
id
u
al
co
m
p
o
n
en
ts
in
is
o
latio
n
an
d
en
s
u
r
e
th
eir
r
eliab
ilit
y
.
Mo
to
r
co
n
tr
o
l
test
in
g
co
n
f
i
r
m
e
d
th
e
B
O
m
o
to
r
s
r
esp
o
n
d
ed
ac
cu
r
ately
to
PW
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4
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3
.
F
un
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Fu
n
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al
test
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s
h
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wn
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was
co
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at
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m
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m
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P
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346
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