If a reduced number of control points is used, the algorithm exhibits better convergence rates but the robot may collide with objects if we consider that it is a rigid body and not just a particle Choset, 2005; on the other hand, if a large number of control points are used, then computational times may increase and make the algorithm extremely slow.
Adicionalmente, existe otro contratiempo: el número de puntos de control. Si no hay suficientes, existe el riesgo de colisionar obstáculos inadvertidos Choset, 2005.