Fixed multithreading in LocationControl, so that only one image update is performed at a time.
OccupancyGridControl draws the current number of grid updates.
OccupancyGridControl uses a GridLogger to automatically log grid updates.
DijkstraScheduler must 'be able to visit' the robots location in order to schedule a route.
Added constructor to InitialScheduler, setting fields to correct values.
Fixed bug in route simplifier, where only the first segment of routes were simplified.
Increased the 'BOUNDS_INFLATE' constant from 5 to 7.
Knowledge gain is only calculated inside a predefined range (17 cells).