goal-in-right near-obstacle behavior-selected do-avoid-obstacle behavior-selected goal-reached behavior-selected do-goal-seek behavior-selected do-goal-seek goal-reached move-decided move-decided move do-goal-seek goal-reached move-decided move-decided move do-goal-seek move-decided moving turn-decided goal-in-left turn-left turn-decided do-goal-seek move-decided move turn-decided goal-in-right turn-right turn-decided do-avoid-obstacle near-obstacle move-decided turn-avoid move-decided do-avoid-obstacle move-decided turn-avoid turn-decided obstacle-in-left turn-right turn-decided do-avoid-obstacle move-decided turn-decided obstacle-in-right turn-left turn-decided