The Proposed Solution
My freedom will be so much the greater and more meaningful the more narrowly I limit my field of action and the more I surround myself with obstacles. Whatever diminishes constraint diminishes strength. The more constraints one imposes, the more one frees one's self of the chains that shackle the spirit.
--Igor Stravinsky
We propose to use depth-first search to transverse the tree.
To handle the project, we propose constraints and assume priors that will bound the problem such that we can handle it.
The first constraints that we place was that we will transverse the left part of the tree first then the right. By doing so, we free ourselves from the need of keeping states, since that we can always assume that the left part of the tree is always visited before the right part of the tree and we will never have to return to the left part of the tree.
The second constraint that we place is that the AIBO will only face on direction, the initial direction it is facing. This result in the AIBO only being able to walk straight, backpedal, strafe left or right, which allows us to maintain our orientation without having to perform calibration to the system.
There are other constraints that we placed on the AIBO but they are unique to the two solutions that we proposed They are covered in the individual section of the solutions.