Refine the controller so that the robot does not oscillate about the center of the hallway (do not underdamp the controller).

The original product, with its simplistic design, has undergone many enhancements over the years.

For Murray Marks he [Richard Norman Shaw] designed a chic Oxford Street shopfront for the display of 'pots' (1875–6), […]

Feast your eyes on some very good—and very unemployed—floofers below:[…]