It is often the case that robotics conferences view hardware papers with with more leniency. Exactly for this reason, I am extra proud of my paper on Task-Consistent Path Planningas , unlike my first two papers, it had no hardware components at all. This work is entirely in constrained sampling based path planning and addresses, what I deam to be, a core problem of mobile 3D printing. That is, the ability of the robot to plan for executing print trajectories much larger than itself. Here is a video explaining the approach: