\chapter{Implementation}
\hyphenation{im-ple-men-ta-tion im-ple-men-ta-tion-spe-ci-fic}
-\todo{more?}
This chapter describes the implementation that was used for the aforementioned
experiments. It consists of the measuring programs themselves, which use the
Wiselib Roomba Control, and are written in C++. Additionally, there are several