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

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.

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!