format the paper a bit

Paper/main.tex

@@ -22,11 +22,11 @@
 \maketitle
 
 \begin{abstract}
-    TODO: abstract
+	TODO: abstract
 \end{abstract}
 
 \section{Rationale}
-    Navigation over uncharted terrain has always required precise instruments
+Navigation over uncharted terrain has always required precise instruments
 and careful data collection. Thanks to modern technology, such as satellite 
 systems and GPS, no area is left completely undocumented \citep{deschamps-berger2020, kervyn2007, li1988}. 
 Those who want to autonomously explore areas are left with two options: 
@@ -36,7 +36,7 @@ \section{Rationale}
 This preexisting data, while it cannot be relied on, can be useful for 
 navigation. 
 
-    A pathfinding situation consists of a “predicted” map, which is available 
+A pathfinding situation consists of a “predicted” map, which is available 
 immediately and a “ground-truthed”, “observed” or “actual” map which is 
 revealed to the algorithm or model as it explores the map. These two maps 
 have a variation between them, the degree of which is referred to as the 
@@ -49,24 +49,24 @@ \section{Rationale}
 nature of the D* algorithm and the machine learning model, the chosen path 
 will most often not be the best path. 
 
-    The most popular open-loop pathfinding algorithm is A* (pronounced “a-star”) 
+The most popular open-loop pathfinding algorithm is A* (pronounced “a-star”) 
 uses node based weighted pathfinding and prioritizes pathfinding in directions 
 that appear to be better. D* is an adaptation of A* for dynamic environments 
 using an “incremental search strategy” when the final environment cannot be 
 determined (X. Sun et al., 2010). 
 
-    Many different techniques for machine learning 
+Many different techniques for machine learning 
 (ML) exist (Amit Patel, 2022). For this application, reinforcement learning 
 is best as it has shown success with pathfinding (Roy et al., 2017) and is 
 able to make a choice between exploration and using past data which is necessary 
 for using a combination of both maps. 
 
-    This research will describe the 
+This research will describe the 
 feasibility and limits of the use of a ML model for navigation of real 
 autonomous vehicles compared to traditional (A* and D*) pathfinding algorithms.
 
 % Bibliography
 \bibliographystyle{plainnat}
 \bibliography{references}
 
-\end{document}
+\end{document}