[Greg McKaskle]

I didn't read up on the bug algorithms you are referring to, but one thing I'd hoped someone might try was using the camera to find and follow the edge of the field. The white rego is surrounded by the dark carpet, and it should be pretty easy to spot, detect and use to avoid the melee in the middle of the field.

I suspect you can even find bugs in nature that have similar behaviors.

Greg McKaskle