diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py
index 9cb3e1968..d1d521b07 100644
--- a/PythonAPI/carla/agents/navigation/basic_agent.py
+++ b/PythonAPI/carla/agents/navigation/basic_agent.py
@@ -66,6 +66,12 @@ class BasicAgent(Agent):
 
         return control
 
+    def set_target_speed(self, speed):
+        """
+        Changes the target speed of the agent
+        """
+        self._local_planner.set_speed(speed)
+
     def get_local_planner(self):
         """
         Get method for protected member local planner
@@ -76,15 +82,35 @@ class BasicAgent(Agent):
         """
         This method creates a list of waypoints from agent's position to destination location
         based on the route returned by the global router
+
+            :param end_location: final location of the route
+            :param start_location: starting location of the route
         """
         if not start_location:
             start_location = self._vehicle.get_location()
+            clean_queue = True
+        else:
+            clean_queue = False
 
         start_waypoint = self._map.get_waypoint(self._vehicle.get_location())
         end_waypoint = self._map.get_waypoint(end_location)
 
         route_trace = self._trace_route(start_waypoint, end_waypoint)
-        self._local_planner.set_global_plan(route_trace)
+        self._local_planner.set_global_plan(route_trace, clean_queue=clean_queue)
+
+    def set_global_plan(self, plan, stop_waypoint_creation=True, clean_queue=True):
+        """
+        Adds a specific plan to the agent.
+
+            :param stop_waypoint_creation: stops the automatic creation of waypoints
+            :param clean_queue: resets the current agent's plan
+        """
+        self._local_planner.set_global_plan(
+            plan,
+            stop_waypoint_creation=stop_waypoint_creation,
+            clean_queue=clean_queue
+        )
+
 
     def _trace_route(self, start_waypoint, end_waypoint):
         """
diff --git a/PythonAPI/carla/agents/navigation/local_planner.py b/PythonAPI/carla/agents/navigation/local_planner.py
index 088256b6b..f92adc072 100644
--- a/PythonAPI/carla/agents/navigation/local_planner.py
+++ b/PythonAPI/carla/agents/navigation/local_planner.py
@@ -142,7 +142,6 @@ class LocalPlanner(object):
             print("WARNING: The max speed is currently set to follow the speed limits. "
                   "Use 'follow_speed_limits' to deactivate this")
         self._target_speed = speed
-        # TODO: Change the sampling distance too?
 
 
     def follow_speed_limits(self, value=True):
@@ -154,6 +153,7 @@ class LocalPlanner(object):
         """
         self._follow_speed_limits = value
 
+
     def _compute_next_waypoints(self, k=1):
         """
         Add new waypoints to the trajectory queue.
@@ -185,6 +185,7 @@ class LocalPlanner(object):
 
             self._waypoints_queue.append((next_waypoint, road_option))
 
+
     def set_global_plan(self, current_plan, stop_waypoint_creation=True, clean_queue=True):
         """
         Adds a new plan to the local planner.
@@ -204,6 +205,7 @@ class LocalPlanner(object):
 
         self._stop_waypoint_creation = stop_waypoint_creation
 
+
     def run_step(self, debug=False):
         """
         Execute one step of local planning which involves running the longitudinal and lateral PID controllers to
@@ -250,6 +252,7 @@ class LocalPlanner(object):
 
         return control
 
+
     def get_incoming_waypoint_and_direction(self, steps=3):
         """
         Returns direction and waypoint at a distance ahead defined by the user.
@@ -266,6 +269,7 @@ class LocalPlanner(object):
             except IndexError as i:
                 return None, RoadOption.VOID
 
+
     def done(self):
         """
         Returns whether or not the planner has finished
@@ -274,6 +278,7 @@ class LocalPlanner(object):
         """
         return len(self._waypoints_queue) == 0
 
+
 def _retrieve_options(list_waypoints, current_waypoint):
     """
     Compute the type of connection between the current active waypoint and the multiple waypoints present in