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Commanding motion is supported by a touch screen interface. Human input demonstrating trajectories by a sequence of points may be incomplete, distorted etc. Theses effects are compensated by a transformation of vertex sequences of a regular grid into paths of a planar graph which codes feasible motions. The transformation is based on alteration operations including re-routings and on a so-called graph Voronoi regions which partition the plane according to proximity to vertices and edges.