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One Sensor Robot Control Technical report

The robot Famez, a fast robot with a robust structure has been constructed to provide a flexible platform for studying autonomous agents. In this report, the robot is presented. Moreover, an obstacle avoidance control method involving only one (sonar) sensor is described. The main issue of the control scheme is that the robot has to find the proper steering direction to avoid an obstacle by utilizing its own motion. While moving and measuring the temporal derivative of the distance measurements, the robot acquires the appropriate steering information.