The Barr Report into the fatal shooting of John Carthy in Abbeylara six years ago has found that the 27-year-old did not intend to be shot by gardaí when he left his house.
Mr Justice Robert Barr's report identifies what it calls "more crucial failures" in the handling of the situation by the Gardaí.
It calls for a revised structure to be devised for dealing with siege situations and says the use of non-lethal weapons, including stun-guns, should be considered.
The report also highlights the lack of experience and training of those in command of the situation in Abbeylara and labels the failure of the commanding gardaí to appreciate the gravity of the situation as surprising.
Speaking at the publication of the report, Mr Justice Barr said he had huge sympathy for the Carthy family and the way they had handled the tragedy.
Speaking at the Garda College in Templemore, Co Tipperary, meanwhile, Justice Minister Michael McDowell said it would take time to digest the report.
He said the document was long and complicated and it would require a lot of study and examination before decisions are made on the way forward.
He also said a statement of regret should be made to the Carthy family, but he stopped short of saying that the State apologises.