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The navigation system of a robot requires sensors to perceive its environment to get a representation. Based on this perception and the state of the robot, it needs to take an action to make a desired behavior in the environment. The actions are defined by a system that processes the obtained information. This system can be based on decision rules defined by an expert or obtained by a training or optimization process. Fuzzy logic controllers are based on fuzzy logic on which degrees of truthdoi:10.14313/jamris/1-2020/6 fatcat:uf5mcayieffezelhta2atv44u4