The DARPA Grand Challenge was a showcase for one of the most difficult real world problems to solve. While this year a number robots crossed the finish line the problem is not completely solved. Building on Dr. MacEvoy's presentation of last week, Mr. Karl Castleton will demonstrate the interesting tension that exists between the two clear goals for the robot: 1) Stay on course and 2) avoid obstacles. An implementation to solve each goal is achievable, but what happens when the two implementations compete for control of the robot. A simulation will allow participants to try to find a balance between these two goals that will succeed at a simplified National Qualifying Event (NQE) and Grand Challenge Event (GCE). Notice the change in the room