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Table 2: Tuning accuracy results from testers and the tool.

Tester ID Waypoint preserved Outside path (%) (%) 1 55.68 1.23 2 61.11 0.00 3 62.47 0.00 4 42.22 45.47 5 51.11 0.00 6 35.56 0.00 Average tester 51.36 7.78 result Our tool result 76.05 10.06