Fig 13. One of the three different ways of calculating $R_{allowed}^{j,right}$ and $R_{allowed}^{j,left}$ that eqs 5 and 6 do propose.

The use of this way of calculating $R_{allowed}^{j,right}$ and $R_{allowed}^{j,left}$ is restricted to the case in which the robot is navigating inside a spiral-like obstacle and the EG’s short-term memory detects a false free-obstacle path towards the target point.