"Autonomobile" by Kalpesh Gala

Autonomobile is an autonomous mobile robot based on the Talrik platform.  IR sensors, bump microswitches, and CdS light detector cells are the "eyes" and "hands" of the agent.  Autonomobile's behavior set consists of self-calibration, outward spiral search, obstacle avoidance, find road, road follow, and visibility.  All above behaviors are implemented in purely dynamic code with no discrete thresholds.