describes the FSM with a natural language, which is typical at the highlevel design phase of a software development process. Refine the FSM so that it is closer to the implementation by incorporating a more formal handling of the sensory events sensor(l, f, r). Boolean variables l, f , and r indicate whether there is a wall on the neighbouring left, front, or right tile. Also introduce a simple local variable interface for executing the actions ‘go forward’, ‘turn left 90◦’, and ‘turn right 90

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