1. Kevyn Bollinger Eric Gonsalves Ben Henry James Marsland

2. Normal Operation Creates a random maze for the robot. The robot searches the maze until it gets to the top right corner. Tests for the top right corner and beeps. Follows the shortest path back to the bottom left corner. Repeats the above steps.

3. How it gets there Uses precedence to always go up and to the right. If it goes over the same spot for a third time, it changes precedence for different paths. If it goes over a spot for a fifth time, it follows a wall until it reaches an un- traveled area.

4. Room Visits

5. How it gets back A cost array records distance from the starting point. The robot follows this array in decreasing cost back to the start.

6. Cost Function

7. Problems and Solutions Due to precedence the robot sometimes does not take the most efficient path. An array measures the amount of times a spot is visited to prevent loops. On average, using precedence, a much shorter path is created than with wall hugging.