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Future Enhancements

The system implemented still includes only the features required to solve the path planning problem for very simple cases, and does not include the complete features of the EPB/PDO representation as described in the previous chapter (most notably, it lacks any reasoning about curves). In addition, the methods used for checking fit through a gap need to be completed and extended. Nevertheless, the implementation carried out has demonstrated the major advantages and disadvantages of this approach, and important enhancements other than the simple completion of the originally proposed system can be identified. Three directions that I see as important initial steps for future work are described in this section.


Alan Blackwell