•Escape:a
ballistic behavior triggered whenever the robot bumps into something. The
behavior is performed in three steps: backup for a specified
amount of time, spin a certain angle, and go forward for a specified
amount of time.
•Anti-Moth:
a ballistic behavior that triggers whenever the total light intensity
measured by a photocell exceeds a threshold
•Dark-push:
a ballistic behavior. It triggers whenever the robot tries to push something when no
light is visible.