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+# Try to reach a position, this digram shall provide an start of solution when
+# the robot is blocked or a when the robot has a obstacle in front of it.
+
+digraph move
+{
+ start -> "go_to_position" [label ="ok"];
+ "go_to_position" -> end [label = "reached"];
+
+ "go_to_position" -> "failed \n or \n blocked";
+ "failed \n or \n blocked" -> "move_on_left" [label = "Far from left boarder"];
+ "failed \n or \n blocked" -> "move_on_right" [label = "Far from right boarder"];
+
+ "move_on_right" -> "go_to_position" [label = "reached"]
+ "move_on_right" -> "failed \n or \n blocked";
+ "move_on_right" -> "move_on_left" [label = "fail || block \n&&\n near border"];
+
+ "move_on_left" -> "go_to_position" [label = "reached"]
+ "move_on_left" -> "failed \n or \n blocked";
+ "move_on_left" -> "move_on_right" [label = "fail || block \n&&\n near border"];
+}