function M = MAP_robot(im,x0,y0,delt,v,max_time)
%

[num_rows,num_cols] = size(im);
[rows,cols] = find(im==1);
rx = cols;
ry = (num_rows-rows)+1;
points = [rx,ry];

x = x0;
y = y0;
pos = [x;y];
t = 0;
count = 0;
while (t<max_time)
    count = count + 1;
    t = t + delt;
    pos = pos + v;
    plot(points(:,1),points(:,2),'b.',pos(1),pos(2),'ro');
    M(count) = getframe;
end
