The task of the planner is to find a path in an environment
3 m × 5 m in size with static obstacles (Fig. 15(a)). After a
plan is created, the robot starts to execute it as described in
Section 4.2. To allow the robot to replan when it deviates from
the planned trajectory, its position is determined using a camerabased
localization system [57]. Screenshots from the navigation
phase are shown in Fig. 15 and the corresponding control signals
are shown in Fig. 16.