Description of a navigation problem This should include a description of the environment, determination of how many robots act (navigate) in the environment (one, two or three), what types of sensors your robots use, what tasks the robots should perform and what navigation procedure is applied by the robot.

1. Environment (world, workspace) Determine the environment where your robots will act. The environment should include obstacles (either round or polygonal) and their positions, a target and its position and the initial position of your robot. If your navigation scenario involves more than one robot, there can be more than one target (e.g. one target for each robot).

2. Parameters of a robot ( robots): Robots can be considered as points with masses equal to one. However, it is also possible to consider a robot as a certain shape, such as round or rectangular.

a) What kind of locomotion does your robot use? Is it a synchro-drive, omnidirectional or a differential drive method? (Chapter 1, Autonomous Mobile Robots, R. Siegwart et al)

b) What sensors are your robot equipped with?

c) In your scenario you can use only one (virtual) sensor, that can possess either limited or perfect (unlimited) visibility. In general, there are always sensors that allow to 'sense' obstacles (infrared or sonar).

d) If your scenario includes more than one robot, is one robot a leader? Or do the robots act independently? e) Are your robots identical or they are different? For example, if your sensor is vision, each robot can have a different colour, and this may allow robots to recognise other robots.

3. Task

a) What kind of tasks should the robots perform?

b) Each robot goes to its corresponding goal or do all robots have the same goal? For example, each robot has garbage that should be disposed of at a certain location. In this case, all robots may have the same target. However, if the robots act in a warehouse they can go to different locations (e.g. to collect tools or equipment)