diff --git a/src/main.c b/src/main.c
index 320eee1..1d48cfd 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,10 +1,12 @@
 
 #include "control.h"
+#include "path.h"
 
 #include <stdio.h>
 
 int main(int argc, char **argv) {
 	trial *t;
+	path *p;
 	
 	if (argc <= 2) {
 		fprintf(stderr, "Syntax: %s hostname port\n", argv[0]);
@@ -14,7 +16,16 @@ int main(int argc, char **argv) {
 	if (NULL == (t = trial_new(argv[1], argv[2]))) {
 		return 2;
 	}
+
+	/*create trivial path towards the origin*/
+	p = path_new(&t->map,&t->vehicle);	
 	
+	while(t->alive){
+		trial_wait_for_input(t);
+		path_execute(t,p);
+	}
+
+	path_free(p);
 	trial_free(t);
 	
 	return 0;
diff --git a/src/path.h b/src/path.h
index f0168d1..8ef5b72 100644
--- a/src/path.h
+++ b/src/path.h
@@ -1,19 +1,24 @@
 #ifndef _PATH_H
 #define _PATH_H
 
+#include "control.h"
+
 
 struct path;
 typedef struct path path;
 
+struct command;
+typedef struct command command;
+
 struct command{
 	timestamp ts;
 	accel_t accel;
 	turn_t turn;
-}
+};
 
 struct path {
 	GQueue* commands;
-}
+};
 
 command *command_new(timestamp ts, accel_t a, turn_t t);
 void command_free(command* c);
diff --git a/src/wscript b/src/wscript
index 0f2bcbc..8da3453 100644
--- a/src/wscript
+++ b/src/wscript
@@ -6,6 +6,7 @@
 main_source = '''
 	main.c
 	control.c
+	path.c
 '''
 
 def build(bld):