Robot with memory- best performance
--------------------------------------------------

S   0.2
D   0.2
S   1.1
L   1.1
S   1.9

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.5    0.4    0.3    0.0    
0.3    0.9    0.7    [0.0]  0.0    
0.0    0.0    0.2    0.8    0.7    
0.0    0.0    0.0    0.5    0.1    
0.0    0.0    0.0    0.5    0.1    
0.0    0.0    0.0    0.2    0.0    

--------------------------------------------------

D   0
S   0.8
R   0.8
S   1.5
D   1.5

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.5    0.4    0.3    0.0    
0.3    0.9    0.7    0.0    0.0    
0.0    0.0    0.2    0.0    0.0    
0.0    0.0    0.0    0.5    [0.1]  
0.0    0.0    0.0    0.5    0.1    
0.0    0.0    0.0    0.2    0.0    

--------------------------------------------------

S   0.1
L   0.1
S   0.6
D   0.6
S   1.1

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.5    0.4    0.3    0.0    
0.3    0.9    0.7    0.0    0.0    
0.0    0.0    0.2    0.0    0.0    
0.0    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    [0.0]  0.1    
0.0    0.0    0.0    0.2    0.0    

--------------------------------------------------

D   0
S   0.2
L   0.2
U   0.2
U   0.2

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.5    0.4    0.3    0.0    
0.3    0.9    0.7    0.0    0.0    
0.0    0.0    0.2    0.0    0.0    
0.0    0.0    [0.0]  0.0    0.0    
0.0    0.0    0.0    0.0    0.1    
0.0    0.0    0.0    0.0    0.0    

--------------------------------------------------

U   0
S   0.2
U   0.2
S   0.9
L   0.9

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.5    0.4    0.3    0.0    
0.3    [0.9]  0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.1    
0.0    0.0    0.0    0.0    0.0    

--------------------------------------------------

S   0.9
U   0.9
S   1.4
R   1.4
S   1.8

0.0    0.5    0.8    0.5    0.1    
0.1    0.0    0.5    0.8    0.1    
0.3    0.0    [0.0]  0.3    0.0    
0.3    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.0    
0.0    0.0    0.0    0.0    0.1    
0.0    0.0    0.0    0.0    0.0    

Total dirt cleaned is 7.4