Future
The future is called "perhaps," which is the only possible thing to call the future. And the only important thing is not to allow that to scare you.
--Tennessee Williams
Directly following a line eliminates ambiguity of which line we should follow. Using fuzzy logic to determine which line we should follow, eliminates the need for the line to be in direct sight. Thus in the future, both the code could be merged such that the AIBO will follow the line closely and once it lose sight of the line, it will load the fuzzy logic to get back to the most probable line it was following.