( ( The agent ) ( ( ( ( uses ( ( this light ) ( to ( ( ( find ( ( ( the ( charging station ) ) and ) ( ( the ( home base ) ) ( with ( its ( ambient ( light sensors ) ) ) ) ) ) ) ( , ( ( that is ) , ) ) ) ( by ( ( ( ( performing phototaxis ) ( -LRB- ( i.e. ( , ( ( moving ( toward ( a ( light source ) ) ) ) -RRB- ) ) ) ) ) and ) ( antiphototaxis ( -LRB- ( ( ( moving away ) ( from ( the ( light source ) ) ) ) -RRB- ) ) ) ) ) ) ) ) ) , ) respectively ) . ) )
(ROOT (S (NP (DT The) (NN agent)) (VP (VBZ uses) (S (NP (DT this) (NN light)) (VP (TO to) (VP (VB find) (NP (NP (DT the) (NN charging) (NN station)) (CC and) (NP (NP (DT the) (NN home) (NN base)) (PP (IN with) (NP (PRP$ its) (JJ ambient) (JJ light) (NNS sensors))))) (PRN (, ,) (INTJ (DT that) (VBZ is)) (, ,)) (PP (IN by) (NP (NP (NP (VBG performing) (NNS phototaxis)) (PRN (-LRB- -LRB-) (FW i.e.) (, ,) (ADJP (JJ moving) (PP (IN toward) (NP (DT a) (JJ light) (NN source)))) (-RRB- -RRB-))) (CC and) (NP (NP (NNS antiphototaxis)) (PRN (-LRB- -LRB-) (VP (VBG moving) (PRT (RP away)) (PP (IN from) (NP (DT the) (JJ light) (NN source)))) (-RRB- -RRB-)))))))) (, ,) (ADVP (RB respectively))) (. .)))
The agent uses this light to find the charging station and the home base with its ambient light sensors, that is, by performing phototaxis (i.e., moving toward a light source) and antiphototaxis (moving away from the light source), respectively.
(ROOT (S (NP (NNS Phototaxis)) (VP (VBZ is) (NP (NP (DT the) (NN term)) (PP (IN for) (NP (NP (NN movement)) (PP (IN toward) (NP (NN light))))))) (. .)))