Below, four subsequent runs are presented featuring operator intervention after the robot stopped due to missing an expected tag. The intervention consists of manually positioning the robot over the last identified tag and commanding it to continue the exploration. It turns out that with a reasonably careful placement of the robot at the starting position [0,0], the robot almost always identifies 15 tags, missing only the last—16th—tag. After repositioning the robot over the 15th tag, the exploration successfully concludes over the final 16th tag, which marks the end of the route. Naturally, an intentional asymmetric positioning of the robot at the starting point necessitates earlier intervention.
Run 7
Run 8
Run 9
Run 10