Trebor writes:

tonight mike and i spent some quality time with orb 2.  it went well.   

in the attached image, the input targets are black dots, the generated smooth path is in red, and the measured orb path is in green.  more images can be found here:

    http://wiki.orbswarm.com/index.php?title=AutomonyImages

no simulation here, this is the real thing. :)

    -trebor