Table 1. Reference model RM1.1 (Hasselmann et al., 2018). Sensors and actuators of the e-puck robot. The period of the control cycle is 100 ms.

Sensor/actuator	Parameters	Values
Proximity	proxi, with $i\in \{0,\dots ,7\}$	[0,1]
Light	lighti, with $i\in \{0,\dots ,7\}$	[0,1]
Ground	groundi, with $i\in \{0,\dots ,2\}$	{black, gray, white}
Range-and-bearing	n	$i\in \{0,\dots ,19\}$
	Vd	([0,0.7]m, [0,2π] radian)
Wheels	vl, vr	[−0.12,0.12] m/s