diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 6822229..3df8619 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -3,64 +3,78 @@
 	% introduction
 	Evaluation took place within all floors (0 to 3) of the
 	faculty building, each of which about \SI{77}{\meter} x \SI{55}{\meter} in size.
+	%
 	We conducted 4 distinct walks, for testing short distances, long distances, critical sections
-	and ignoring the shortest-path suggested by the system. Each path is backed by ground truth information
-	to enable error calculation. This ground truth is measured by recording a timestamp at a marked spot
-	on the walking route. During the walk, the pedestrian has to click a button on the smartphone
-	application when passing a marker. Between two consecutive points, a constant movement speed is assumed.
-	Thus, the ground truth might not be \SI{100}{\percent} accurate, but good enough to conduct error measurements.
-	All walks were conducted using a Google Nexus 6 and a Samsung Galaxy S5.
+	and ignoring the shortest-path suggested by the system.
+	Due to an inhouse exhibition during that time, many places were crowded and \docWIFI{} signals
+	are attenuated more than usual.
+	Each acquired path is backed by ground truth information to enable error calculation.
+	This ground truth is measured by recording a timestamp at a marked spot on the walking route.
+	During the walk, the pedestrian had to click a button on the smartphone application
+	when passing a marker. Between two consecutive points, a constant movement speed is assumed.
+	Thus, the ground truth might not be \SI{100}{\percent} accurate, but fair enough to conduct
+	error measurements. All walks were conducted using a Google Nexus 6 and a Samsung Galaxy S5.
 	
-	As the Samsung Galaxy S5's \docWIFI{} can not be limited to the \SI{2.4}{\giga\hertz} band only, its scans take much
-	longer than those of the Google Nexus 6: \SI{3500}{\milli\second} vs. \SI{600}{\milli\second}. Also, the Nexus' barometer sensor
-	provides readings more frequent and far more accurate than the Galaxy does. This results in a much better
-	localisation for the Nexus smartphone.
+	As the Samsung Galaxy S5's \docWIFI{} can not be limited to the \SI{2.4}{\giga\hertz} band only,
+	its scans take much longer than those of the Google Nexus 6:
+	\SI{3500}{\milli\second} vs. \SI{600}{\milli\second}.
+	Also, the Nexus' barometer sensor provides readings both more frequent and far more accurate than
+	the Galaxy does. This results in a much better localisation of the Nexus smartphone.
 	
 	Despite being fast enough to run in realtime on the smartphone itself, computation was done offline using
-	the condensation algorithm with \SI{7500}{} particles as realization of the recursive density estimation \cite{todo}
-	and the weighted arithmetic mean of those for the state estimation.
+	the condensation algorithm with \SI{7500}{} particles as realization of the recursive density estimation \cite{todo}.
+	The weighted arithmetic mean of the particles was used as state estimation.
 	
 	As mentioned earlier, the position of all \docAP{}s (about 5 per floor) is known beforhand. 
 	Due to legal terms, we are not allowed to depict their positions and therefore omit this information within the figures.
 	Additionally we used three \docIBeacon{}s for slight enhancements in some areas.
 	The empirically chosen values for \docWIFI{} were $P_{0_{\text{wifi}}} = \SI{-46}{\dBm}, \mPLE_{\text{wifi}} = \SI{2.7}{}$,
-	and $\mPLE_{\text{ib}} = \SI{1.5}{}$ for the \docIBeacon{}s, respectively. Due to omitting a time-consuming calibration
-	process for those values, the sensor readings are considered somewhat faulty.
+	and $\mPLE_{\text{ib}} = \SI{1.5}{}$ for the \docIBeacon{}s, respectively.
+	%
+	Due to omitting a time-consuming calibration process for those values we expect the localistation
+	process to perform generally worse compared to fingerpring methods \todo{cite}. However,
+	incorporating prior knowledge will often compensate for those poorly chosen system parameters.
 	
 	As uncertainties we used $\sigma_\text{wifi} = \sigma_\text{ib} = 8.0$, both growing with each measurement's age.
 	While the pressure change was assumed to be \SI{0.105}{$\frac{\text{\hpa}}{\text{\meter}}$}, all other barometer-parameters
 	are determined automatically (see \ref{sec:sensBaro}). The step size for the transition was configured to be \SI{70}{\centimeter}
 	with an allowed derivation of \SI{10}{\percent}. The heading deviation in \refeq{eq:transSimple} was \SI{25}{\degree}.
 	
-
-
-	\commentByFrank{describe what was evaluated: 2 phones (differences), 4 paths, building, several floors, ibeacons, access points}
+	As we start with a uniformation distribution for $\mStateVec_0$ (random position and heading), the first few estimations
+	are omitted from the error calculation to allow the system to somewhat settle its initial state. Even though, the error
+	during the follwing few seconds is expected to be much higher than the error when starting with a well known initial
+	position and heading.
+	
+	The follwing evaluations will depict the improvements prior path knowledge is able to provide
+	even when other system parameters are badly chosen.
+	Just adding importance-factors described in \ref{sec:wallAvoidance} and \ref{sec:doorDetection} 
+	to the simple transition \refeq{eq:transSimple} addresses only minor local errors
+	% like not sticking too close to walls. In most cases this lead only to slight improvements
+	and is therefore not further evaluated. 
+	%
+	
 
 	\commentByFrank{bergwerk\_path3\_galaxy}
 	
-	As we start with a uniformation distribution for $\mStateVec_0$, the first few estimations
-	are omitted from the error calculation to allow the system to settle its initial state.
-
-	Adding the importance factors described in \ref{sec:wallAvoidance} and \ref{sec:doorDetection} 
-	to the simple transition \refeq{eq:transSimple} addresses only minor local errors like not
-	sticking too close to walls. In most cases this lead only to minor, if any, improvements
-	and is therefore not fruther evaluated.
+	\begin{figure}
+		\input{gfx/eval/paths}
+		\caption{The four paths that were part of the evaluation.
+		Starting positions are marked with black circles.
+		For a better visualisation they were slightly shifted to avoid overlapping.}
+		\label{fig:paths}
+	\end{figure}
 
 	\commentByFrank{verlassen vom shortest path fuehrt zu weniger verbesserung, aber es wird nach wie vor besser als ohne!}
 	
 	\commentByFrank{in den ersten paar sec ist die pfad-info teils hinderlich, da die genaue position noch sehr unklar ist und sich erst einstellen muss.
 	deshalb geht der fehler hier oft leicht hoch}
-	
-	\begin{figure}
-		%\includegraphics{eval/bergwerk_path2_nexus_shortest}
-	\end{figure}
-	
+		
 	% error development over time while walking along a path
 	\begin{figure}
 		\input{gfx/eval/error_timed_nexus}
 		\caption{Development of the error while walking along path 1 (upper) and path 4 (lower) using the Google Nexus 6.
-		Path 4 shows increasing errors for our methods when leaving the shortest path and when facing multimodalities between two
-		staircases at the end.}
+		Path 4 shows increasing errors for our methods when leaving the shortest path (3) and when facing multimodalities between two
+		staircases just before the destination (9).}
 		\label{fig:errorTimedNexus}
 	\end{figure}
 	
diff --git a/tex/gfx/eval/data/startpoints_moved.dat b/tex/gfx/eval/data/startpoints_moved.dat
new file mode 100644
index 0000000..1dec0c6
--- /dev/null
+++ b/tex/gfx/eval/data/startpoints_moved.dat
@@ -0,0 +1,4 @@
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diff --git a/tex/gfx/eval/error_timed_nexus.eps b/tex/gfx/eval/error_timed_nexus.eps
index f0ed761..9e5ba08 100644
--- a/tex/gfx/eval/error_timed_nexus.eps
+++ b/tex/gfx/eval/error_timed_nexus.eps
@@ -1,7 +1,7 @@
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+%%CreationDate: Fri Feb 12 17:29:33 2016
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-15 0 V
+14 0 V
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@@ -1894,8 +1987,8 @@ stroke 2188 432 M
 14 27 V
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 14 37 V
-15 33 V
-14 20 V
+14 33 V
+15 20 V
 14 15 V
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@@ -1903,7 +1996,7 @@ stroke 2188 432 M
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 14 21 V
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-15 14 V
+14 14 V
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@@ -1912,7 +2005,7 @@ stroke 2188 432 M
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-15 -7 V
+14 -7 V
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@@ -1920,7 +2013,7 @@ stroke 2188 432 M
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-15 21 V
+14 21 V
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@@ -1929,7 +2022,7 @@ stroke 2188 432 M
 14 -23 V
 14 -1 V
 14 0 V
-15 -36 V
+14 -36 V
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@@ -1937,16 +2030,16 @@ stroke 2188 432 M
 14 -31 V
 14 -50 V
 14 -34 V
-15 -19 V
+14 -19 V
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-14 21 V
+15 21 V
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 14 18 V
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-15 -14 V
+14 -14 V
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@@ -1954,17 +2047,17 @@ stroke 2188 432 M
 14 67 V
 14 39 V
 14 25 V
-15 1 V
+14 1 V
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-stroke 3656 588 M
+stroke 3636 588 M
 14 -177 V
 14 -117 V
-15 24 V
+14 24 V
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@@ -1973,7 +2066,7 @@ stroke 3656 588 M
 14 48 V
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-15 -21 V
+14 -21 V
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@@ -1981,16 +2074,16 @@ stroke 3656 588 M
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+14 12 V
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+15 15 V
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@@ -1998,7 +2091,7 @@ stroke 3656 588 M
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-15 -24 V
+14 -24 V
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@@ -2007,7 +2100,7 @@ stroke 3656 588 M
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-15 28 V
+14 28 V
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@@ -2015,7 +2108,7 @@ stroke 3656 588 M
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-15 1 V
+14 1 V
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@@ -2024,16 +2117,16 @@ stroke 3656 588 M
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-15 -19 V
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-14 -10 V
+14 -19 V
+15 -10 V
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-15 -3 V
+14 -3 V
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@@ -2041,7 +2134,7 @@ stroke 3656 588 M
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-15 6 V
+14 6 V
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diff --git a/tex/gfx/eval/error_timed_nexus.gp b/tex/gfx/eval/error_timed_nexus.gp
index 2929df1..787519a 100644
--- a/tex/gfx/eval/error_timed_nexus.gp
+++ b/tex/gfx/eval/error_timed_nexus.gp
@@ -5,23 +5,39 @@ set multiplot layout 2,1
 set format y "\\footnotesize{%.1f m}"
 set format x "\\footnotesize{%.0f s}"
 set key horizontal
-set yrange[0:16]
+set yrange[0:17]
+set xrange[0:91]
 set xtics nomirror
 set ytics nomirror
-set key samplen 1.0 spacing 0.8 width -13
+set key  opaque box samplen 1.0 spacing 0.8 width -13
 
 set lmargin 4.6
 set tmargin 0.3
 set rmargin 0.4
 set bmargin 1.2
 
-set object 1 rectangle from 0,0 to 20,17 fs solid noborder fc rgb "#eeeeee" behind
-set label 1 "\\footnotesize{setup-phase}" at 9,1 rotate by 90 front
+set object 1 rectangle from 0,0 to 13,17 fs solid noborder fc rgb "#eeeeee" behind		# standing
+set label 1 "\\footnotesize{1}" at 6.5,2 center rotate by 0 front
+
+set object 2 rectangle from 13,0 to 34,17 fs solid noborder fc rgb "#dddddd" behind		# walk towards stair
+set label 2 "\\footnotesize{2}" at 23.5,13 center rotate by 0 front
+
+set object 3 rectangle from 34,0 to 45,17 fs solid noborder fc rgb "#eeeeee" behind		# walk down the stair
+set label 3 "\\footnotesize{3}" at 39.5,13 center rotate by 0 front
+
+set object 4 rectangle from 45,0 to 62,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
+set label 4 "\\footnotesize{4}" at 53.5,13 center rotate by 0 front
+
+set object 5 rectangle from 62,0 to 78,17 fs solid noborder fc rgb "#eeeeee" behind		# change side of floor
+set label 5 "\\footnotesize{5}" at 70,13 center rotate by 0 front
+
+set object 6 rectangle from 78,0 to 90,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
+set label 6 "\\footnotesize{6}" at 84.5,8 center rotate by 0 front
 
 plot \
-	"data/err_bergwerk_path1_nexus_simple.dat"		using ($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
-	"data/err_bergwerk_path1_nexus_multi.dat"		using ($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
-	"data/err_bergwerk_path1_nexus_shortest.dat"	using ($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
+	"data/err_bergwerk_path1_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
+	"data/err_bergwerk_path1_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
+	"data/err_bergwerk_path1_nexus_shortest.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
 
 #plot \
 #	"data/err_bergwerk_path2_nexus_simple.dat"		using ($1/100) with lines title "raw" lc rgb "#000000", \
@@ -33,18 +49,47 @@ plot \
 #	"data/err_bergwerk_path3_nexus_multi.dat"		using ($1/100) with lines title "multi-path", \
 #	"data/err_bergwerk_path3_nexus_shortest.dat"	using ($1/100) with lines title "shortest-path", \
 	
-set object 1 rectangle from 0,0 to 20,15 fs solid noborder fc rgb "#eeeeee" behind
-set label 1 "\\footnotesize{setup-phase}" at 9,1 rotate by 90 front
-set object 2 rectangle from 40,0 to 60,15 fs solid noborder fc rgb "#eeeeee" behind
-set label 2 "\\footnotesize{ignoring}" at 46,7.4 rotate by 90 front
-set label 3 "\\footnotesize{path}" at 52,7.4 rotate by 90 front
-#set object 3 rectangle from 106,0 to 116,15 fs solid noborder fc rgb "#eeeeee" behind
-set object 4 rectangle from 128,0 to 138,15 fs solid noborder fc rgb "#eeeeee" behind
-set label 4 "\\footnotesize{multimodality}" at 142,4.4 rotate by 90 front
+#set object 1 rectangle from 0,0 to 20,15 fs solid noborder fc rgb "#eeeeee" behind
+#set label 1 "\\footnotesize{setup-phase}" at 9,1 rotate by 90 front
+#set object 2 rectangle from 40,0 to 60,15 fs solid noborder fc rgb "#eeeeee" behind
+#set label 2 "\\footnotesize{ignoring}" at 46,7.4 rotate by 90 front
+#set label 3 "\\footnotesize{path}" at 52,7.4 rotate by 90 front
+#set object 4 rectangle from 128,0 to 138,15 fs solid noborder fc rgb "#eeeeee" behind
+#set label 4 "\\footnotesize{multimodality}" at 142,4.4 rotate by 90 front
+
+set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind	# standing
+set label 1 "\\footnotesize{1}" at 7,2 center rotate by 0 front
+
+set object 2 rectangle from 14,0 to 40,15 fs solid noborder fc rgb "#dddddd" behind	# walking down the way
+set label 2 "\\footnotesize{2}" at 27,11 center rotate by 0 front
+
+set object 3 rectangle from 40,0 to 51,15 fs solid noborder fc rgb "#eeeeee" behind	# ignoring the shortest path
+set label 3 "\\footnotesize{3}" at 45.5,11 center rotate by 0 front
+
+set object 4 rectangle from 51,0 to 65,15 fs solid noborder fc rgb "#dddddd" behind	# stairwell
+set label 4 "\\footnotesize{4}" at 58,11 center rotate by 0 front
+
+set object 5 rectangle from 65,0 to 74,15 fs solid noborder fc rgb "#eeeeee" behind	# exit stairwell
+set label 5 "\\footnotesize{5}" at 69.5,11 center rotate by 0 front
+
+set object 6 rectangle from 74,0 to 105,15 fs solid noborder fc rgb "#dddddd" behind # floor
+set label 6 "\\footnotesize{6}" at 89.5,11 center rotate by 0 front
+
+set object 7 rectangle from 105,0 to 116,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f1
+set label 7 "\\footnotesize{7}" at 110.5,11 center rotate by 0 front
+
+set object 8 rectangle from 116,0 to 130,15 fs solid noborder fc rgb "#dddddd" behind # floor
+set label 8 "\\footnotesize{8}" at 123,11 center rotate by 0 front
+
+set object 9 rectangle from 130,0 to 142,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f0
+set label 9 "\\footnotesize{9}" at 136,11 center rotate by 0 front
+
+set object 10 rectangle from 142,0 to 150,15 fs solid noborder fc rgb "#dddddd" behind # end
+set label 10 "\\footnotesize{10}" at 146,11 center rotate by 0 front
 
 unset key
 set yrange[0:13]
-set xrange[0:150]
+set xrange[0:151]
 plot \
 	"data/err_bergwerk_path4_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
 	"data/err_bergwerk_path4_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
diff --git a/tex/gfx/eval/error_timed_nexus.tex b/tex/gfx/eval/error_timed_nexus.tex
index 3d87226..cffaaed 100644
--- a/tex/gfx/eval/error_timed_nexus.tex
+++ b/tex/gfx/eval/error_timed_nexus.tex
@@ -83,24 +83,24 @@
     \gplgaddtomacro\gplbacktext{%
       \csname LTb\endcsname%
       \put(475,2279){\makebox(0,0)[r]{\strut{}\footnotesize{0.0 m}}}%
-      \put(475,2490){\makebox(0,0)[r]{\strut{}\footnotesize{2.0 m}}}%
-      \put(475,2700){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
-      \put(475,2911){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
-      \put(475,3121){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
-      \put(475,3332){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
-      \put(475,3542){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
-      \put(475,3753){\makebox(0,0)[r]{\strut{}\footnotesize{14.0 m}}}%
-      \put(475,3963){\makebox(0,0)[r]{\strut{}\footnotesize{16.0 m}}}%
+      \put(475,2477){\makebox(0,0)[r]{\strut{}\footnotesize{2.0 m}}}%
+      \put(475,2675){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
+      \put(475,2873){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
+      \put(475,3071){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
+      \put(475,3270){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
+      \put(475,3468){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
+      \put(475,3666){\makebox(0,0)[r]{\strut{}\footnotesize{14.0 m}}}%
+      \put(475,3864){\makebox(0,0)[r]{\strut{}\footnotesize{16.0 m}}}%
       \put(607,2059){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
-      \put(1078,2059){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
-      \put(1548,2059){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
-      \put(2019,2059){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
-      \put(2489,2059){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
-      \put(2960,2059){\makebox(0,0){\strut{}\footnotesize{100 s}}}%
-      \put(3430,2059){\makebox(0,0){\strut{}\footnotesize{120 s}}}%
-      \put(3901,2059){\makebox(0,0){\strut{}\footnotesize{140 s}}}%
-      \put(4371,2059){\makebox(0,0){\strut{}\footnotesize{160 s}}}%
-      \put(4842,2059){\makebox(0,0){\strut{}\footnotesize{180 s}}}%
+      \put(1072,2059){\makebox(0,0){\strut{}\footnotesize{10 s}}}%
+      \put(1538,2059){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
+      \put(2003,2059){\makebox(0,0){\strut{}\footnotesize{30 s}}}%
+      \put(2469,2059){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
+      \put(2934,2059){\makebox(0,0){\strut{}\footnotesize{50 s}}}%
+      \put(3399,2059){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
+      \put(3865,2059){\makebox(0,0){\strut{}\footnotesize{70 s}}}%
+      \put(4330,2059){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
+      \put(4795,2059){\makebox(0,0){\strut{}\footnotesize{90 s}}}%
     }%
     \gplgaddtomacro\gplfronttext{%
       \csname LTb\endcsname%
@@ -110,7 +110,12 @@
       \csname LTb\endcsname%
       \put(4251,3812){\makebox(0,0)[r]{\strut{}\footnotesize{shortest}\hspace{-1.5mm}}}%
       \csname LTb\endcsname%
-      \put(819,2384){\rotatebox{90}{\makebox(0,0)[l]{\strut{}\footnotesize{setup-phase}}}}%
+      \put(910,2477){\makebox(0,0){\strut{}\footnotesize{1}}}%
+      \put(1701,3567){\makebox(0,0){\strut{}\footnotesize{2}}}%
+      \put(2445,3567){\makebox(0,0){\strut{}\footnotesize{3}}}%
+      \put(3097,3567){\makebox(0,0){\strut{}\footnotesize{4}}}%
+      \put(3865,3567){\makebox(0,0){\strut{}\footnotesize{5}}}%
+      \put(4540,3071){\makebox(0,0){\strut{}\footnotesize{6}}}%
     }%
     \gplgaddtomacro\gplbacktext{%
       \csname LTb\endcsname%
@@ -122,20 +127,26 @@
       \put(475,1560){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
       \put(475,1819){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
       \put(607,44){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
-      \put(1172,44){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
-      \put(1736,44){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
-      \put(2301,44){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
-      \put(2866,44){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
-      \put(3430,44){\makebox(0,0){\strut{}\footnotesize{100 s}}}%
-      \put(3995,44){\makebox(0,0){\strut{}\footnotesize{120 s}}}%
-      \put(4560,44){\makebox(0,0){\strut{}\footnotesize{140 s}}}%
+      \put(1168,44){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
+      \put(1729,44){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
+      \put(2290,44){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
+      \put(2851,44){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
+      \put(3412,44){\makebox(0,0){\strut{}\footnotesize{100 s}}}%
+      \put(3973,44){\makebox(0,0){\strut{}\footnotesize{120 s}}}%
+      \put(4533,44){\makebox(0,0){\strut{}\footnotesize{140 s}}}%
     }%
     \gplgaddtomacro\gplfronttext{%
       \csname LTb\endcsname%
-      \put(861,394){\rotatebox{90}{\makebox(0,0)[l]{\strut{}\footnotesize{setup-phase}}}}%
-      \put(1906,1223){\rotatebox{90}{\makebox(0,0)[l]{\strut{}\footnotesize{ignoring}}}}%
-      \put(2075,1223){\rotatebox{90}{\makebox(0,0)[l]{\strut{}\footnotesize{path}}}}%
-      \put(4616,834){\rotatebox{90}{\makebox(0,0)[l]{\strut{}\footnotesize{multimodality}}}}%
+      \put(803,523){\makebox(0,0){\strut{}\footnotesize{1}}}%
+      \put(1364,1690){\makebox(0,0){\strut{}\footnotesize{2}}}%
+      \put(1883,1690){\makebox(0,0){\strut{}\footnotesize{3}}}%
+      \put(2234,1690){\makebox(0,0){\strut{}\footnotesize{4}}}%
+      \put(2556,1690){\makebox(0,0){\strut{}\footnotesize{5}}}%
+      \put(3117,1690){\makebox(0,0){\strut{}\footnotesize{6}}}%
+      \put(3706,1690){\makebox(0,0){\strut{}\footnotesize{7}}}%
+      \put(4057,1690){\makebox(0,0){\strut{}\footnotesize{8}}}%
+      \put(4421,1690){\makebox(0,0){\strut{}\footnotesize{9}}}%
+      \put(4702,1690){\makebox(0,0){\strut{}\footnotesize{10}}}%
     }%
     \gplbacktext
     \put(0,0){\includegraphics{error_timed_nexus}}%
diff --git a/tex/gfx/eval/path_nexus.gp b/tex/gfx/eval/path_nexus.gp
new file mode 100644
index 0000000..365b587
--- /dev/null
+++ b/tex/gfx/eval/path_nexus.gp
@@ -0,0 +1,12 @@
+unset xtics
+unset ytics
+unset ztics
+unset border
+set ticslevel 0
+
+set object 1 polygon from 1000,4200,1060 to 1000,5200,1060 to 1700,5200,1060 to 1700,4200,1060 fs solid noborder fc rgb "#cccccc" behind
+
+splot \
+	"data/floors.dat"  with lines lc rgb "#aaaaaa" notitle,\
+	"data/est_bergwerk_path1_nexus_multi.dat"	skip 10 with lines lw 2 lc rgb "#000000" notitle,\
+	"data/est_bergwerk_path4_nexus_multi.dat"	skip 10 with lines lw 2 lc rgb "#009900" notitle,\
diff --git a/tex/gfx/eval/paths.eps b/tex/gfx/eval/paths.eps
new file mode 100644
index 0000000..ae9b431
--- /dev/null
+++ b/tex/gfx/eval/paths.eps
@@ -0,0 +1,7527 @@
+%!PS-Adobe-2.0 EPSF-2.0
+%%Title: paths.tex
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+/gnudict 256 dict def
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+    clip
+  } if
+} def
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+	Rounded {1 setlinejoin 1 setlinecap} if} def
+3.8 setmiterlimit
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+end
+showpage
+%%Trailer
diff --git a/tex/gfx/eval/paths.gp b/tex/gfx/eval/paths.gp
new file mode 100644
index 0000000..199d874
--- /dev/null
+++ b/tex/gfx/eval/paths.gp
@@ -0,0 +1,29 @@
+set terminal epslatex size 3.5,2.5
+set output "paths.tex"
+
+#set hidden3d front
+unset xtics
+unset ytics
+unset ztics
+unset border
+
+set view 67,40
+
+unset key
+set key opaque box horizontal maxcols 12 at screen 0.24,0.3 width -2.5 samplen 1.0
+
+set multiplot layout 1,1 scale 2.3,2.3 offset 0,-0.030
+
+set view equal xy
+
+set zrange [-300:1600]
+
+splot \
+	"data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\
+	"data/path1.dat" using (column(1)+70):(column(2)-60):3	with lines lw 3.0 dashtype 3 lc rgb "#000000" title "path 1", \
+	"data/path2.dat" using (column(1)+60):(column(2)+60):3  with lines lw 1.5  lc rgb "#999900" title "path 2",\
+	"data/path3.dat" using (column(1)-30):(column(2)+90):3	with lines lw 1.5 lc rgb "#000066" title "path 3",\
+	"data/path4.dat" using (column(1)-70):(column(2)-60):3	with lines lw 1.5 lc rgb "#006600" title "path 4",\
+	"data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\
+	
+	
diff --git a/tex/gfx/eval/paths.tex b/tex/gfx/eval/paths.tex
new file mode 100644
index 0000000..44aec10
--- /dev/null
+++ b/tex/gfx/eval/paths.tex
@@ -0,0 +1,107 @@
+% GNUPLOT: LaTeX picture with Postscript
+\begingroup
+  \makeatletter
+  \providecommand\color[2][]{%
+    \GenericError{(gnuplot) \space\space\space\@spaces}{%
+      Package color not loaded in conjunction with
+      terminal option `colourtext'%
+    }{See the gnuplot documentation for explanation.%
+    }{Either use 'blacktext' in gnuplot or load the package
+      color.sty in LaTeX.}%
+    \renewcommand\color[2][]{}%
+  }%
+  \providecommand\includegraphics[2][]{%
+    \GenericError{(gnuplot) \space\space\space\@spaces}{%
+      Package graphicx or graphics not loaded%
+    }{See the gnuplot documentation for explanation.%
+    }{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
+    \renewcommand\includegraphics[2][]{}%
+  }%
+  \providecommand\rotatebox[2]{#2}%
+  \@ifundefined{ifGPcolor}{%
+    \newif\ifGPcolor
+    \GPcolorfalse
+  }{}%
+  \@ifundefined{ifGPblacktext}{%
+    \newif\ifGPblacktext
+    \GPblacktexttrue
+  }{}%
+  % define a \g@addto@macro without @ in the name:
+  \let\gplgaddtomacro\g@addto@macro
+  % define empty templates for all commands taking text:
+  \gdef\gplbacktext{}%
+  \gdef\gplfronttext{}%
+  \makeatother
+  \ifGPblacktext
+    % no textcolor at all
+    \def\colorrgb#1{}%
+    \def\colorgray#1{}%
+  \else
+    % gray or color?
+    \ifGPcolor
+      \def\colorrgb#1{\color[rgb]{#1}}%
+      \def\colorgray#1{\color[gray]{#1}}%
+      \expandafter\def\csname LTw\endcsname{\color{white}}%
+      \expandafter\def\csname LTb\endcsname{\color{black}}%
+      \expandafter\def\csname LTa\endcsname{\color{black}}%
+      \expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
+      \expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
+      \expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
+      \expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
+      \expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
+      \expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
+      \expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
+      \expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
+      \expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
+    \else
+      % gray
+      \def\colorrgb#1{\color{black}}%
+      \def\colorgray#1{\color[gray]{#1}}%
+      \expandafter\def\csname LTw\endcsname{\color{white}}%
+      \expandafter\def\csname LTb\endcsname{\color{black}}%
+      \expandafter\def\csname LTa\endcsname{\color{black}}%
+      \expandafter\def\csname LT0\endcsname{\color{black}}%
+      \expandafter\def\csname LT1\endcsname{\color{black}}%
+      \expandafter\def\csname LT2\endcsname{\color{black}}%
+      \expandafter\def\csname LT3\endcsname{\color{black}}%
+      \expandafter\def\csname LT4\endcsname{\color{black}}%
+      \expandafter\def\csname LT5\endcsname{\color{black}}%
+      \expandafter\def\csname LT6\endcsname{\color{black}}%
+      \expandafter\def\csname LT7\endcsname{\color{black}}%
+      \expandafter\def\csname LT8\endcsname{\color{black}}%
+    \fi
+  \fi
+    \setlength{\unitlength}{0.0500bp}%
+    \ifx\gptboxheight\undefined%
+      \newlength{\gptboxheight}%
+      \newlength{\gptboxwidth}%
+      \newsavebox{\gptboxtext}%
+    \fi%
+    \setlength{\fboxrule}{0.5pt}%
+    \setlength{\fboxsep}{1pt}%
+\begin{picture}(5040.00,3600.00)%
+    \gplgaddtomacro\gplbacktext{%
+    }%
+    \gplgaddtomacro\gplfronttext{%
+      \csname LTb\endcsname%
+      \put(750,970){\makebox(0,0)[r]{\strut{}path 1}}%
+      \csname LTb\endcsname%
+      \put(750,750){\makebox(0,0)[r]{\strut{}path 2}}%
+      \csname LTb\endcsname%
+      \put(750,530){\makebox(0,0)[r]{\strut{}path 3}}%
+      \csname LTb\endcsname%
+      \put(750,310){\makebox(0,0)[r]{\strut{}path 4}}%
+      \csname LTb\endcsname%
+      \put(750,970){\makebox(0,0)[r]{\strut{}path 1}}%
+      \csname LTb\endcsname%
+      \put(750,750){\makebox(0,0)[r]{\strut{}path 2}}%
+      \csname LTb\endcsname%
+      \put(750,530){\makebox(0,0)[r]{\strut{}path 3}}%
+      \csname LTb\endcsname%
+      \put(750,310){\makebox(0,0)[r]{\strut{}path 4}}%
+    }%
+    \gplbacktext
+    \put(0,0){\includegraphics{paths}}%
+    \gplfronttext
+  \end{picture}%
+\endgroup