Fig 10. Trajectories of the agent equipped with an EMD-based collision avoidance system, but also relying on the goal direction, in two different cluttered environments with objects and walls covered by 1mm (right column) or 4mm (left column) random checkerboard patterns.

The goal is indicated by the green dot. Two hundred one starting positions were tested and simulations were run either for 100sec (gray lines, i.e. dead-end), until the goal was reached (colored lines) or until a crash occurred (black lines). Note that the individual trajectories converge to only a small number of distinct routes. Apart from taking the goal direction into account, the simulations, parameters and environments are identical to those used for Fig 9. (see also S2 Video,S3 Video).