P1 - Reorganize the pfields code to be consistent with behaviors
P2 - Create and implement a docking behavior on the ER-1
P3 - Create a stand-alone simulator version of the pfields code
A1 - Reorganize the A* code to be consistent with behaviors
A2 - Create a stand-alone simulator version of the A* code
T1 - Create an extended version of Trulla that applies splines