Limitations of the model

Apart from the modifications to the algorithms mentioned before, the model has some more limitations.

These limitations are listed below.

• Acceleration of the window cleaning robot is not taken into account.
• It is assumed that the dirt sector can assess the dirtiness of a patch with an accuracy of 100%.
• It is assumed that other sensors that the robot uses, like gravity sensors and force sensors, always work perfectly.
• It was decided to abstract over the rubber ring that surrounds the robot.