This is a set of classes to enable the Lego NXT Robot to make use of the Monte-Carlo-Localization algorithm from the Artificial Intelligence - A Modern Approach 3rd Edition Java implementation in connection with the leJos NXJ framework.

If you just want to run the program with the robot model included in this repository pick the latest release. The implementation consists of 2 parts:

###1. NXT daemon

The NXT runs a daemon in the leJos runtime. This daemon awaits a bluetooth connection and process the commands which are sent from the PC.

###2. PC controls

The PC is controlling the NXT. It displays a GUI from which the user can control the Monte-Carlo-Localization algorithm and the robot. All parameters regarding both algorithm and robot can be managed from this GUI.

###Additional data

In addition a few SVG maps for example environments included. A model created with the Lego Digital Designer and instructions to rebuild that model can be found in LEGO instructions. A documentation of the implementation and a user manual can be found in the documentation directory. Both documents are written in german.

####Authors: Arno v. Borries
Jan Phillip Kretzschmar
Andreas Walscheid