-results better than in experiment 1, very accurate for laminate floor, carpet
-floor more spread but still kind of in the middle and less deviation from ideal
-value.
-\todo{statistical values, stddev?}
+For laminated floors, the results are actually better than in Experiment~1,
+apart from a huge increase of the absolute error for small input values (50~cm,
+5 and 20 degrees). As the error for this values is far into the negative
+range, it means that the Roomba has even turned to or driven in the wrong
+direction. The reason for that is most probably the fit function, which is below
+zero for these target values. Apart from that, higher target values or
+velocities correlate with a higher (absolute) error, just as already mentioned
+for the original behavior, which is caused by accumulating errors. However,
+when it comes to different velocities, the error is not as far distributed as it
+is for the original behavior. This makes the behavior of the Roomba more
+predictable over different velocities. Apparently, mean correction
+significantly improves the accuracy of the Roomba's general movement in this
+case.
+
+For carpet floors, the data shows not much difference to the original
+behavior, apart from the already mentioned large absolute error for small
+target values. Due to the steep drop of the error for large target values, it
+could maybe help to apply a quadratic regression for the determination of a fit
+function, in order to better represent the measured data. However, this is a
+matter for more detailed research and is not covered in this thesis.