An interesting case study where real-time trajectory modification would have been helpful (assuming it wasn’t tried already):
For months, Tesla engineers struggled to get a robot to guide a bolt through a hole accurately to secure part of the rear brake. They found a maddeningly simple solution: Instead of using a bolt with a flat tip on its threaded end, engineers switched to a bolt with a tapered point, known as a “lead-in,” that can be guided through the hole even if the robot is a millimeter off dead center.
https://www.theverge.com/2018/6/30/17520832/tesla-model-3-manufacturing-changes-tent-robots-welds