If we mark points `Xm1` and `Xm2` as point of impact of disturbance and point of eventual correction, the region / path between `Xm1` and `Xm2` is untouched. In the scenario of wiping down a white board, this area will only be addressed in the next possible loop. What is the reason, the closest point (4:50) is calculated only in the forward direction? Why not reverse? Can it be a point of decision?
