For this experiment, another signal was situated inside the
1.3.C.12 laboratory, next to its entrance. In Fig. 14, the information stored in this signal is also shown. The added connection speci fies the goal place (TV of the Robotics Lab I) and the
required action to get there (Go to point ).
In this experiment, apart from using topological actions, the
robot is also using a geometric action. The geometric information is used when the topological one is not sufficient or if the
robot is in a nonstructured environment. This is the case of our
laboratory since there are tables, chairs, and other objects.