Table 1 Circuits C1, C2, C3 with respect to main items of the WST [1]

Moves controller/tiller away and back

In C1, C2 and C3 circuits

Turns power on and off

Rolls forwards (10 m)

Rolls backwards (2 m)

Turns in place

Turns while moving forwards (\(90^\circ\))

Gets through hinged door

In C2 and C3 circuits

Ascends \(5^\circ\) incline

Descends \(5^\circ\) incline

Rolls on soft surface (2 m)

Cross doorstep

Avoids moving obstacles

Only in C3 circuit

Ascends \(10^\circ\) incline

Descends \(10^\circ\) incline