to program complex missions. This is the case, for example if we would add a
\emph{while} construction it would increase the range of missions very much.
However, it also makes programming the robot much more difficult and will
-reduce the usability. With the current structure with the subsumption
-architecture and the rudimentary memory you actually can create such control
+reduce the usability. With the current structure, the subsumption
+architecture and the rudimentary memory, we actually can create such control
structures but it takes a little more effort.
\paragraph{Flexibility}
required a lot of computing power. But when everything was set up correctly it
worked like a charm.
+Creating our solution was a bit difficult at the beginning due to extra works
+designing the DSL to accomodate the robot's missions and behaviours. However
+when the DSL was created appropriately the generation of different missions and
+behaviours for the robot became very easy.
+
\paragraph{General lessons learned}
From our experience, the most important thing in the development process was to
work iteratively in small building blocks. Another lesson learned was the fact
never got it stable but with more time we could make it stable. Another option
is to try to get more requirements. For example the mapping and internal
representation of the locations of the lakes. This problem is not trivial at
-all and because of the lack of time we could unfortunately not spend time on it.
+all and because of the lack of time we could unfortunately not spend time on
+it.