---Fix voxel enlargment calculations--- Fix memory leaks ---Fix binarization--- ---Add elevation restriction--- ---Make unobserved values of the histogram occupied---- Behavioral stuff (backup when faced with no options) Test going around corner
Test on physical shit Turning radius tuning
Get filter working Drive around different surfaces to collect data Train ann, neural net LSTM accomodates terrain changes Change xbox controls to use neural net Start to self driving
Exploration algorithm Weigh previous locations