diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 8bf1689..81a2028 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -1,5 +1,7 @@
 \section{Experiments}
 	
+	\newcommand{\refSeg}[1]{seg. $#1$}
+	
 	% 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.
@@ -49,6 +51,8 @@
 	are omitted from the error calculation to allow the system to somewhat settle its initial state. Even though, the error
 	during the following few seconds is expected to be much higher than the error when starting with a well known initial
 	position and heading.
+	%
+	
 	
 	The following evaluations will depict the improvements that the prior path knowledge is able to provide,
 	even when other system parameters are badly chosen.
@@ -73,10 +77,10 @@
 	% 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 4 using the Motorola Nexus 6.
-		When leaving the suggested route (3), the error of \textbf{shortest} path \refeq{eq:transShortestPath}
+		\caption{Error development while walking along Path 4 using the Motorola Nexus 6.
+		When leaving the suggested route \refSeg{3}, the error of \textbf{shortest} path \refeq{eq:transShortestPath}
 		and \textbf{multi}path \refeq{eq:transMultiPath} increases.
-		The same issues arise when facing multimodalities between two staircases just before the destination (9).
+		The same issues arise when facing multimodalities between two staircases just before the destination \refSeg{9}.
 		\commentByFrank{hilft das bold vlt. schon um die legende zu verstehen?}
 		}
 		\label{fig:errorTimedNexus}
@@ -85,13 +89,14 @@
 	\begin{figure}
 		\input{gfx/eval/path_nexus_detail}
 		\caption{Detailed path analysis depicting the individual segments of path 4 using \refeq{eq:transMultiPath}.
-		Their corresponding error can be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path
-		suggested by the system is ignored multiple times ($3'$ and $3''$) our approach is still able to improve
+		For a better visualisation, the segments are divided using an outline of alternating grey levels.
+		The corresponding segment-error can be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path
+		suggested by the system is ignored multiple times (\refSeg{3'} and \refSeg{3''}) our approach is still able to improve
 		the overall localisation error.}
 		\label{fig:nexusPathDetails}
 	\end{figure}
 	%
-	\newcommand{\refSeg}[1]{$(#1)$}
+	
 	
 	Fig. \ref{fig:errorTimedNexus} depicts the error for path 4 recorded with the Motorola Nexus 6.
 	For a better understanding of the following discussion, the path was divided into $10$ individual segments.
@@ -106,6 +111,11 @@
 	This can be seen at the red area in the upper left corner of fig. \ref{fig:nexusPathDetails} \refSeg{1} and within
 	segment \refSeg{1} of fig. \ref{fig:errorTimedNexus}.
 	%
+	Starting with both, known position and heading, reduced the error by about \SI{15}{\percent} when using prior knowledge and
+	by \SI{25}{\percent} when omitting prior knowledge. As prior knowledge directs the density towards a known target,
+	it is able to compensate unknown initial headings which explains the \SI{10}{\percent} difference.
+	\commentByFrank{bekannter startpunkt getestet und kurz beschrieben}
+	%
 	However, as soon as the pedestrian starts moving down the hallway \refSeg{2} the error is reduced dramatically.
 	Adding prior knowledge centres the density in the middle of the floor, ensures that the heading is directed towards
 	the shortest path and thus produces even better localisation results.
diff --git a/tex/chapters/grid.tex b/tex/chapters/grid.tex
index 360f994..36e96e6 100644
--- a/tex/chapters/grid.tex
+++ b/tex/chapters/grid.tex
@@ -290,6 +290,8 @@
 			%
 			Hereafter, the simple transition \refeq{eq:transSimple} is combined with a second probability,
 			downvoting all grid-steps that depart from $\pathRef$.
+			To still allow leaving the shortest path, the intensity of the downvoting is controlled via $\mUsePath$,
+			with $0 < \mUsePath < 1$.
 			Finally, \refeq{eq:transShortestPath} provides a metric tending towards the reference while
 			still allowing the pedestrian to leave the shortest path:
 			%
diff --git a/tex/gfx/eval/paths.eps b/tex/gfx/eval/paths.eps
index c6b78e7..fd69dd9 100644
--- a/tex/gfx/eval/paths.eps
+++ b/tex/gfx/eval/paths.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: paths.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Sun Feb 21 19:48:40 2016
+%%CreationDate: Tue Feb 23 14:42:32 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 302 230
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Sun Feb 21 19:48:40 2016)
+  /CreationDate (Tue Feb 23 14:42:32 2016)
   /DOCINFO pdfmark
 end
 } ifelse
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@@ -7489,29 +7489,29 @@ LCb setrgbcolor
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diff --git a/tex/gfx/eval/paths.gp b/tex/gfx/eval/paths.gp
index a70ea12..a04023e 100644
--- a/tex/gfx/eval/paths.gp
+++ b/tex/gfx/eval/paths.gp
@@ -20,10 +20,10 @@ 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 "\\footnotesize{path 1}", \
-	"data/path2.dat" using (column(1)+60):(column(2)+60):3  with lines lw 1.5  lc rgb "#990000" title "\\footnotesize{path 2}",\
-	"data/path3.dat" using (column(1)-30):(column(2)+90):3	with lines lw 1.5 lc rgb "#000099" title "\\footnotesize{path 3}",\
-	"data/path4.dat" using (column(1)-70):(column(2)-60):3	with lines lw 1.5 lc rgb "#009900" title "\\footnotesize{path 4}",\
+	"data/path1.dat" using (column(1)+70):(column(2)-60):3	with lines lw 1.5 lc rgb "#A52A2A" title "\\footnotesize{path 1}", \
+	"data/path2.dat" using (column(1)+60):(column(2)+60):3  with lines lw 1.5 lc rgb "#990077" title "\\footnotesize{path 2}",\
+	"data/path3.dat" using (column(1)-30):(column(2)+90):3	with lines lw 1.5 lc rgb "#00BBBB" title "\\footnotesize{path 3}",\
+	"data/path4.dat" using (column(1)-70):(column(2)-60):3	with lines lw 3.0 lc rgb "#000000" dashtype 3 title "\\footnotesize{path 4}",\
 	"data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\