-\chapter{Description of Implementation}
+\chapter{Implementation}
+
+\todo{?}
+This chapter describes the implementation that was used for the aforementioned
+experiments. It consists of the measuring program itself, as well as several
+scripts to help with analysis of the measured data.
+
\section{Measuring}
\label{sec:impl:measuring}
-\todo{}
-
C++ code in wiselib/trunk/pc\_apps/roomba\_tests
three single applications with same base: roomba\_test (main.cc),