Week8-Embodied-Agents-and-Adaptive-Flocks-of-Agents.markdown

@@ -57,7 +57,7 @@ If we switch what the sensor's input correspond to we observe the opposite behav
 We also experiemented with remembering the maximum light and minimum light the robot had observed over its life time and then only mapping to motor power within this interval. Doing this we could change how the robot behaved depending on how much light we exposed it to. At one point we had an interesting result where we could make the robot follow a person standing in from of it.[5]
 
 ### Ultrasonic sensors
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+The Braitenberg vehicle[7] using ultrasonic sensors bumps into several objects on it's way. It bumps into walls twice (including a wall-like, laying chair) at an angle and drives into a chair leg. We have discovered both of these situations in previous exercises. Chair legs are very difficult to detect, and when the ultrasonic sensor points towards a wall at to large an angle, the sound is not reflected back to the sensor, but away from it.
 
 ### Combined light and ultrasonic sensors
 
@@ -86,3 +86,5 @@ We followed our plan and it worked well.
 [5], Robot follower - http://youtu.be/n4O-1T7VcDk
 
 [6], Robot using combined light and ultrasonic sensors - http://youtu.be/LNiCFXrWMFM
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+[7], Braitenberg vehicles 2 with two ultrasonic sensors - http://www.youtube.com/watch?v=fMIJ_Qhzg_8
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