First we describe in detail and in a bottom-up manner the on-board system. The most crucial part of a moving agent in this situation is the power source which should be able to supply enough current to move the robot and but must be as light as possible to allow the required autonomy between chargings. Since the batteries are used up quickly, cost effectiveness is also an important consideration. The battery that we have found to provide the best trade-off and which we are using is a rechargeable lead acid type, supplying 0.5 Amperes at 12 V.
The rest of the on-board system consists of two motors, motor controllers and, a decoder, and a receiver (see Figure 2(b)).