“…The Wall-Following Robot Navigation has a very small number of classes, which correspond to four different directions for the robot (Move-Forward, Slight-Right-Turn, Sharp-Right-Turn, Slight-Left-Turn) data set that has 5456 instances with 24 continuous predictor variables and 1 class variable. The predictor variables describe US1: ultrasound sensor at the front of the robot (reference angle: 180°), US2: ultrasound reading (reference angle: 165°), US3: ultrasound reading (reference angle: -150°), US4: ultrasound reading (reference angle: -135°), US5: ultrasound reading (reference angle: -120°), US6: ultrasound reading (reference angle: -105°), US7: ultrasound reading (reference angle: -90°), US8: ultrasound reading (reference angle: -75°), US9: ultrasound reading (reference angle: -60°), US10: ultrasound reading (reference angle: -45°), US11: ultrasound reading (reference angle: -30°), US12: ultrasound reading (reference angle: -15°), US13: reading of ultrasound sensor situated at the back of the robot (reference angle: 0°), US14: ultrasound reading (reference angle: 15°), US15: ultrasound reading (reference angle: 30°), US16: ultrasound reading (reference angle: 45°), US17: ultrasound reading (reference angle: 60°), US18: ultrasound reading (reference angle: 75°), US19: ultrasound reading (reference angle: 90°), US20: ultrasound reading (reference angle: 105°), US21: ultrasound reading (reference angle: 120°), US22: ultrasound reading (reference angle: 135°), US23: ultrasound reading (reference angle: 150°), US24: ultrasound reading (reference angle: 165°) [20].The whole dataset consists of about 5456 labelled examples. The actual available moves and class distributions are presented in Table 1.…”