DERVISH An Office-Navigating Robot

Turning to align itself with the hallway, it begins to move toward the near door of the goal room, which is just a few feet in front. This run should be easy, so the robot thinks. DERVISH plans to use another hallway. DERVISH's brain is an on-board MACINTOSH Later, when the robot finally reaches the node just outside the goal room, the enterroom module is called. This simple procedure aligns the robot with the doorway and then moves a prespecified distance into the room.