The second Kinewright engine now stops before what it sees and goes around what it can pass, knowing the scene only through the sensor models of the previous stage. It also gets stuck, says so, and this article shows that too: the normal drive, the stall when the goal is out of reach, and why.

What this stage adds

The steering moves as a declared motion. Two declarations stand beside the shell's profile, a hobby servo's and a car's steering rack's, every rate estimated from its class and attributed to no part. The steer angle rises and falls on an S-ramp under its own rate, with a cap that falls with speed: from rest, lock to straight takes 0.1 s under the servo and 1.46 s under the rack. Every plan takes the same law; the drawn paths of the earlier stages still end on their poses, slower under the rack.

A local map from the shell's own sensors: cells of 0.02 m, remembered for 2 s within 3 m.…