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![How the behaviors are triggered in the battle area](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson9/Images/BehavioralControlOnTrack.jpg)
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### Results
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[INDSÆT BESKRIVELSE]
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## Iterations
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In order to improve the performance of the sumo wrestler LEGO car a number of iterations has taken place which are described in the following.
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With the additional light sensor the LEGO is able to stop, back up and turn no matter which side the border is approached from.
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### Results
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[INDSÆT BESKRIVELSE]
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## Conclusion
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In this lesson we have developed a sumo wrestler LEGO car with both an offense and defense strategy. By using the behavioral control paradigm we are able to implement multiple behaviors which are triggered by the various sensors attached to the LEGO car. We found out that weight and weight distribution was an important factor in this setting. An equal weight distribution and a LEGO car which weight reached the maximum limit was the optimal solution. Localizing the opponent fast is a crucial task but with only a sonar senor in front the LEGO car, it needs to inspect the entire area around itself. Randomness has been introduced so that the LEGO car performs the inspection in a non-deterministic manner which seemed to be superior according to a deterministic inspection.
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