-limitations in the \acs{ROI}\index{\acs{ROI}} it is only possible to explicitly
-start and stop the Roomba's movements at different times, so the Wiselib's
-implementation of the Roomba control code first starts the Roomba's movement,
-keeps track of the turned angle and dcovered distance, and then stops
+limitations in the \ac{ROI}\index{Roomba Open Interface} it is only possible to
+explicitly start and stop the Roomba's movements at different times, so the
+Wiselib's implementation of the Roomba control code first starts the Roomba's
+movement, keeps track of the turned angle and dcovered distance, and then stops