Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Abstract: According to the present invention there is provided fragrance compositions comprising (a) fragrance; and (b) cyclic oligosaccharides having one or more unsubstituted alkyl substituents; wherein the weight ratio of (a) to (b) is at least about 1:1. The compositions of the present invention provide a long-lasting fragrance while at the same time having a ‘burst’ of fragrance on application.