There's also a more recent 'router' demo(1) that -- though still rigid and rectangular -- does build its own boundary rather than relying on the grid boundary.

There's also a more recent 'router' demo(1) that -- though still rigid and rectangular -- does build its own boundary rather than relying on the grid boundary. (1) https://www.youtube.com/watch?v=I4flQ8XdvJM#t=685 https://www.youtube.com/watch?v=I4flQ8XdvJM#t=685