A luminaire including a lamp, reflector, collimator and optional waveguide. In response to a request to originate a call, the mobile station compares its current sector-carrier with one or more candidate sector-carriers that have pilot channels at carrier frequencies distinct from the current carrier frequency. The apparatus measures a distance to the obstacle using the distance-measuring sensor while changing the relative pose of the mobile robot, thereby generating a three-dimensional map. The engine output torque of the second engine torque curve is less than the engine output torque of the first engine torque curve in at least a portion of a range of the engine speed when at least the operation amount of the accelerator operation member is a predetermined operation amount that is less than a maximum operation amount.