Geodesic
On the design of an automaton for traversing plane labyrinths with limited holes
Diskretnaya Matematika, Tome 3 (1991) no. 1, pp. 105-113.

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We study a problem on the design of an automaton that traverses all the labyrinths of a given class. We constructively design an automaton that is universal for a class of labyrinths, the diameters of whose holes are bounded by a given constant $L$. The number of states of this automaton does not exceed $L^2$ in order. 
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A. N. Zyrichev. On the design of an automaton for traversing plane labyrinths with limited holes. Diskretnaya Matematika, Tome 3 (1991) no. 1, pp. 105-113. http://geodesic.mathdoc.fr/item/DM_1991_3_1_a9/