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In addition to being an attorney, Poor is a consulting planner. He offers consulting services in capital improvement and infrastructure planning. He advised Kansas City in adopting policies to finance infrastructure to new subdivisions. Poor has written special assessment and impact fee policies for municipalities in Kansas and the Missouri Ozarks. He has drafted local government zoning, environmental, nuisance, tower and adult use ordinances. Poor assists cities and counties with code enforcement programs.

Poor has prepared historic preservation and downtown revitalization plans. As an attorney and consulting planner, Poor frequently works with localities, historic societies and citizens groups in saving historic structures from demolition or encroachment. Poor has authored New Urban codes and architectural review guidelines. Poor has managed downtown and community visioning programs. Poor has written facility plans for library systems.

Poor has specialized skill in planning for industrial development. He has served as advisor in industrial brownfield redevelopment and adaptive reuse projects. Poor has planned industrial parks with utility, infrastructure and transportation improvements. Poor has worked as a consultant to municipal utilities and community wind developers. He has worked with tax credit and Enterprise Zone projects in several states. He has specific expertise in agribusiness and renewable energy. Poor enjoys working with rural communities as an advisor in economic development planning and packaging incentives for agribusiness and Green Economy projects.