Matthias Schuller focused on improving the reliability of trajectory planning in the EPFLXplore/ERC_HD robotics repository using C++. He addressed a critical edge case where identical initial and target joint states could cause division-by-zero errors, leading to undefined NaN commands. By implementing a guard that skips trajectory calculations when no movement is required, Matthias enhanced the robustness of the control software for both simulation and real-world operation. His work in C++ development and trajectory planning directly reduced the risk of unstable commands, resulting in safer and more maintainable robotics code. The solution demonstrated careful attention to boundary conditions and system stability.