-Figure~\ref{fig:orig:lam:drive} shows that the error becomes greater
-with increasing input distance when driving straight on the
-laminated floor, however, in fig.~\ref{fig:orig:carpet:drive} we see the
-opposite effect on the carpet floor, the error decreases with greater input
-distance. This could happen due to imprecise measurement of distances in either
-the Roomba's sensors or the Wiselib implementation that controls the Roomba, or
-both. Also slippage of the wheels on the laminated floor could be possible,
-explaining the descending
+Figure~\ref{fig:orig:lam:drive} shows that the error becomes greater with
+increasing input distance when driving straight on the laminated floor, however,
+in Figure~\ref{fig:orig:carpet:drive} we see the opposite effect on the carpet
+floor, the error decreases with greater input distance. This could happen due to
+imprecise measurement of distances in either the Roomba's sensors or the Wiselib
+implementation that controls the Roomba, or both, adding up over the time the
+movement continues. Also slippage of the wheels on the laminated floor could be
+possible, as well as slowdown through the carpet floor, explaining why the error
+increases on the laminated floor, but decreases into negative values on the
+carpet floor when the distance grows.
+