Is this pragraraph good , type of free and grammatically correct ? -the pragraph is In details- Exploiting the move_base ROS node, we defined a set of random points (x, y) in the room; So, the robot can move from one point to another, to explore and localize the gas source. This strategy is repeated several times, in order to have an accurate information about the gas concentration by the robot, and because the gas sensor has a relatively slow response; we set a delay time after each point that the robot reached, before going to the next one. In the meantime, the data of both gas concentration and location (x, y) of each point are collected. And a specific threshold of the gas concentration is being set, so, wherever the gas concentration detected by gas sensor was greater than the setting threshold, the position (x, y) of that concentration is stored in a matrix to be processed later.