plans and lets the agents execute actions, even though new information is not available yet. This means that the performance could be much better. However, it gives rise to situations where the agent keeps following an impossible plan, because the engine did not yet receive any percepts showing changes in the environment.

Lego Mindstorms NXT {#sec:legomindstormsnxt}
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The Lego Mindstorms NXT is a toolkit consisting of a set of sensors and motors, a simple computer and a set of Lego bricks for building robots. Included is a programming language and editor called NXT-G. It allows the user to develop simple applications by a drag-and-drop interface, using loops, branching statements and simple calculations.

Sensors
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The following sensors are included in the Lego Mindstorms NXT kit:

-   The **touch sensor** is a sensor with a button. The sensor can detect whether or not this button is pressed and can for instance be used to detect whether something has been caught by the arms of a robot.

-   The **color sensor** can detect colors. It is tuned to detect standard Lego colors and is able to distinguish between these.

-   The **light sensor** is a simpler version of the color sensor, which 