Limitations of the model

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Apart from the modifications to the algorithms mentioned before, the model has some more limitations.

These limitations are listed below.

  • Acceleration of the window cleaning robot is not taken into account.
  • It is assumed that the dirt sector can assess the dirtiness of a patch with an accuracy of 100%.
  • It is assumed that other sensors that the robot uses, like gravity sensors and force sensors, always work perfectly.
  • It was decided to abstract over the rubber ring that surrounds the robot.