-In this experiment, the Roomba started right off with the full velocity the
-movement was executed with; so there was no control to adhere a constant
-acceleration when starting or stopping the movement. As mentioned before, due to
-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
-the Roomba if these values exceed the target values.
+In this experiment, the Roomba started and stopped with the full velocity the
+movement was executed with; so there was (ideally speaking) an infinite
+acceleration and deceleration at the start and the end of the movement. As
+mentioned before, due to 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 covered distance, and then stops the Roomba if these values exceed the
+target values.