diff --git a/pom.xml b/pom.xml
index 17b0c5621f60413befa5279a881a82f61a8cc907..26c4cb5f79823e67e45fd58161c1bfa291480336 100644
--- a/pom.xml
+++ b/pom.xml
@@ -1,18 +1,20 @@
-<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-    xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
-    <modelVersion>4.0.0</modelVersion>
-    <groupId>fr.ufrst.m1info.gl.tparineymates</groupId>
-    <artifactId>robot-modules</artifactId>
-    <packaging>pom</packaging>
-    <version>1.0-SNAPSHOT</version>
-    <name>robot-modules</name>
-    <url>http://maven.apache.org</url>
-    <dependencies>
-        <dependency>
-            <groupId>junit</groupId>
-            <artifactId>junit</artifactId>
-            <version>3.8.1</version>
-            <scope>test</scope>
-        </dependency>
-    </dependencies>
+<?xml version="1.0" encoding="UTF-8"?><project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>fr.ufrst.m1info.gl.tparineymates</groupId>
+  <artifactId>robot-modules</artifactId>
+  <packaging>pom</packaging>
+  <version>1.0-SNAPSHOT</version>
+  <name>robot-modules</name>
+  <url>http://maven.apache.org</url>
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>3.8.1</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+  <modules>
+    <module>robot</module>
+  </modules>
 </project>
diff --git a/robot/pom.xml b/robot/pom.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7fcd127d7defa64d073315a82cd40f72138a5f96
--- /dev/null
+++ b/robot/pom.xml
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+  <parent>
+    <artifactId>robot-modules</artifactId>
+    <groupId>fr.ufrst.m1info.gl.tparineymates</groupId>
+    <version>1.0-SNAPSHOT</version>
+  </parent>
+
+  <groupId>fr.ufrst.m1info.gl.tparineymates</groupId>
+  <artifactId>robot</artifactId>
+  <version>1.0-SNAPSHOT</version>
+
+  <name>robot</name>
+  <!-- FIXME change it to the project's website -->
+  <url>http://www.example.com</url>
+
+  <properties>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    <maven.compiler.source>1.7</maven.compiler.source>
+    <maven.compiler.target>1.7</maven.compiler.target>
+  </properties>
+
+  <dependencies>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.11</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+    <pluginManagement><!-- lock down plugins versions to avoid using Maven defaults (may be moved to parent pom) -->
+      <plugins>
+        <!-- clean lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#clean_Lifecycle -->
+        <plugin>
+          <artifactId>maven-clean-plugin</artifactId>
+          <version>3.1.0</version>
+        </plugin>
+        <!-- default lifecycle, jar packaging: see https://maven.apache.org/ref/current/maven-core/default-bindings.html#Plugin_bindings_for_jar_packaging -->
+        <plugin>
+          <artifactId>maven-resources-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-compiler-plugin</artifactId>
+          <version>3.8.0</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-surefire-plugin</artifactId>
+          <version>2.22.1</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-jar-plugin</artifactId>
+          <version>3.0.2</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-install-plugin</artifactId>
+          <version>2.5.2</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-deploy-plugin</artifactId>
+          <version>2.8.2</version>
+        </plugin>
+        <!-- site lifecycle, see https://maven.apache.org/ref/current/maven-core/lifecycles.html#site_Lifecycle -->
+        <plugin>
+          <artifactId>maven-site-plugin</artifactId>
+          <version>3.7.1</version>
+        </plugin>
+        <plugin>
+          <artifactId>maven-project-info-reports-plugin</artifactId>
+          <version>3.0.0</version>
+        </plugin>
+      </plugins>
+    </pluginManagement>
+  </build>
+</project>
diff --git a/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/LandSensor.java b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/LandSensor.java
new file mode 100644
index 0000000000000000000000000000000000000000..1d9626f70e07f7659506e6a8e401836f14ff9e2d
--- /dev/null
+++ b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/LandSensor.java
@@ -0,0 +1,21 @@
+package fr.ufrst.m1info.gl.tparineymates;
+
+import java.util.Random;
+
+public class LandSensor {
+
+    private Random random;
+
+    public LandSensor(Random random) {
+        this.random = random;
+    }
+
+    public double getPointToPointEnergyCoefficient(Coordinates coordinate1, Coordinates coordinate2) {
+        double distance = distance(coordinate1, coordinate2);
+        return 1 + distance / (distance * random.nextDouble());
+    }
+
+    public static double distance(Coordinates coordinate1, Coordinates coordinate2) {
+        return Math.sqrt(Math.pow(coordinate1.getX()-coordinate2.getX(), 2) + Math.pow(coordinate1.getY()-coordinate2.getY(),2));
+    }
+}
diff --git a/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/Robot.java b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/Robot.java
new file mode 100644
index 0000000000000000000000000000000000000000..af48e60470d7fbf6de86b81a095a1772c012e8ca
--- /dev/null
+++ b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/Robot.java
@@ -0,0 +1,115 @@
+package fr.ufrst.m1info.gl.tparineymates;
+
+import java.util.ArrayList;
+
+import static fr.ufrst.m1info.gl.mates.RoadBookCalculator.calculateRoadBook;
+
+public class Robot {
+
+	private Coordinates position;
+	private Direction direction;
+	private boolean isLanded;
+	private RoadBook roadBook;
+	private final double energyConsumption; // energie consommée pour la réalisation d'une action dans les conditions
+											// idéales
+	private LandSensor landSensor;
+	private Battery cells; // cells
+
+	public Robot() {
+		this(1.0, new Battery());
+	}
+
+	public Robot(double energyConsumption, Battery cells) {
+		isLanded = false;
+		this.energyConsumption = energyConsumption;
+		this.cells = cells;
+	}
+
+	public void land(Coordinates landPosition, LandSensor sensor) {
+		position = landPosition;
+		direction = Direction.NORTH;
+		isLanded = true;
+		landSensor = sensor;
+		cells.setUp();
+	}
+
+	public int getXposition() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		return position.getX();
+	}
+
+	public int getYposition() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		return position.getY();
+	}
+
+	public Direction getDirection() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		return direction;
+	}
+
+	public void moveForward() throws UnlandedRobotException, InterruptedException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		Coordinates nextPosition = MapTools.nextForwardPosition(position, direction);
+		double neededEnergy = landSensor.getPointToPointEnergyCoefficient(position, nextPosition) * energyConsumption;
+		boolean move = false;
+		do {
+			try {
+				cells.use(neededEnergy);
+				move = true;
+			} catch (InsufficientChargeException e) {
+				long l = cells.timeToSufficientCharge(neededEnergy);
+				Thread.sleep(l);
+			}
+		} while (!move);
+		position = nextPosition;
+	}
+
+	public void moveBackward() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		position = MapTools.nextBackwardPosition(position, direction);
+	}
+
+	public void turnLeft() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		direction = MapTools.counterclockwise(direction);
+	}
+
+	public void turnRight() throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		direction = MapTools.clockwise(direction);
+	}
+
+	public void setRoadBook(RoadBook roadBook) {
+		this.roadBook = roadBook;
+	}
+
+	public void letsGo() throws UnlandedRobotException, UndefinedRoadbookException, InterruptedException {
+		if (roadBook == null)
+			throw new UndefinedRoadbookException();
+		while (roadBook.hasInstruction()) {
+			Instruction nextInstruction = roadBook.next();
+			if (nextInstruction == Instruction.FORWARD)
+				moveForward();
+			else if (nextInstruction == Instruction.BACKWARD)
+				moveBackward();
+			else if (nextInstruction == Instruction.TURNLEFT)
+				turnLeft();
+			else if (nextInstruction == Instruction.TURNRIGHT)
+				turnRight();
+		}
+	}
+
+	public void computeRoadTo(Coordinates destination) throws UnlandedRobotException {
+		if (!isLanded)
+			throw new UnlandedRobotException();
+		setRoadBook(calculateRoadBook(direction, position, destination, new ArrayList<Instruction>()));
+	}
+}
diff --git a/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/UnlandedRobotException.java b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/UnlandedRobotException.java
new file mode 100644
index 0000000000000000000000000000000000000000..0cf5635171d7293832201ff5a6dfc9787a8e7ffc
--- /dev/null
+++ b/robot/src/main/java/fr/ufrst/m1info/gl/tparineymates/UnlandedRobotException.java
@@ -0,0 +1,16 @@
+package fr.ufrst.m1info.gl.tparineymates;
+
+
+
+
+public class UnlandedRobotException extends Exception {
+
+    /**
+	 * 
+	 */
+	private static final long serialVersionUID = 8808058592281751853L;
+
+	public UnlandedRobotException() {
+        super("Le robot doit être posé avant tout déplacement");
+    }
+}