Upon receipt of a "Set Behavior" command, the IPD executes the algorithm shown in

Figure 3-4. The IPD calculates the total dimensions of the stairs from the control data

received along with the command, as seen in Table 3-6. Through simple geometric

equations, the IPD determines the total length, L, and pitch angle, P, of the stairs, as seen

in Figure 3-5. Next, the IPD aligns the heading of the Andros platform with the heading

of the staircase.


Figure 3-4: Opening sequence of "Set Behavior X" algorithm