# 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 -> "desired position" [label = "ok"]; "desired position" -> end [label = "reached"]; "desired position" -> "move on left" [label = "failed or blocked\n border left is far"]; "desired position" -> "move on right" [label = "failed or blocked\n border right is far"]; "move on left" -> "move on left" [label = "failed or blocked"]; "move on left" -> "desired position" [label = "reached"]; "move on right" -> "move on right" [label = "failed or blocked"]; "move on right" -> "desired position" [label = "reached"]; "move on right" -> "move on left" [label = "near right border"]; "move on left" -> "move on right" [label = "near left border"]; }