Spatial Cognitive Maps in Agent Navigation and Path Planning

A low temperature bleach system comprises a peracid percursor system and bromide ions. The bromide ions may be supplied by sodium bromide. A theoretical peracid to bromide equivalent ratio between 2:1 and 1:2 is preferred, but dye transfer and hygiene benefits are possible with a ratio up to 1:32. The precursor system is typically diphthaloyl peroxide or sodium perborate plus tetraacetyl ethylenediamine (TAED). If the perborate is in excess, a scavenger such as catalase should be included. The system may be used as such or incorporated in a conventional detergent base.