Fig 9. Trajectories of the agent equipped with an EMD-based collision avoidance system in two different cluttered environments with objects and the walls covered by 1mm random checkerboard patterns (seen from above).

Fifty-one starting positions were tested, and simulations were run for 100sec or until the agent crashed. The trajectories are color-coded depending on their starting position. Objects are indicated by filled black squares. The gain and the threshold of the weighting function was 2 and 4, respectively, for all cases. (see also S1 Video).