IMU, 6 computers, GPS compass, GPS, E-stop, 5 lasers, camera, rador, control screen, steering monitor
probabilistic localization
Robotics
-> robot agent(sensor data) actions
environment agent
Perception
sensor data, internal state, filter
x’ = x + vΔ+cosΘ
y’ = y + vΔ+sinΘ
Θ’ = Θ + wΔt
