public void setInitialTile(LocalVacuumEnvironmentPerceptTaskEnvironmentB vep) {
boolean dirty = (vep.getState().getLocState() == LocationState.Clean) ? false : true;
Tile t = new Tile(new Point(0, 0), false, false, dirty, vep.isOnBase());
rows = vep.getN();
cols = vep.getM();
this.setTile(t);
currentPosition = t;
if (vep.isOnBase()) this.setBase(t);
for (Point p : getAdjWalkablePoints(getCurrentPositionPoint())) unexploredPoints.add(p);
}