Sydney's most common tunicate, cunjivoy (Pyura stolonifera....or cunji to the locals), is an icon. There are even poems about the stoic cunji!

Dix Handley: Don't bone me! Cobby: Now look, I'm not boning you, Dix— Dix: Did I ever welsh? Cobby: Nobody said you did— Dix: You just boned me!

She was rather cross about missing her train on the first day of the job.

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must find a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity. While exact solutions to this problem are not known, we provide the first provably-good approximation algorithm. and show that it runs in polynomial time.