AtsushiSakai · AtsushiSakai · Jan 25, 2025 · Jan 25, 2025
diff --git a/docs/conf.py b/docs/conf.py
@@ -19,7 +19,7 @@
 # -- Project information -----------------------------------------------------
 
 project = 'PythonRobotics'
-copyright = '2018-2023, Atsushi Sakai'
+copyright = '2018-now, Atsushi Sakai'
 author = 'Atsushi Sakai'
 
 # The short X.Y version

diff --git a/docs/index_main.rst b/docs/index_main.rst
@@ -34,18 +34,18 @@ See this paper for more details:
    :caption: Contents
 
    getting_started
-   modules/introduction
-   modules/localization/localization
-   modules/mapping/mapping
-   modules/slam/slam
-   modules/path_planning/path_planning
-   modules/path_tracking/path_tracking
-   modules/arm_navigation/arm_navigation
-   modules/aerial_navigation/aerial_navigation
-   modules/bipedal/bipedal
-   modules/control/control
-   modules/utils/utils
-   modules/appendix/appendix
+   modules/1_introduction/introduction
+   modules/2_localization/localization
+   modules/3_mapping/mapping
+   modules/4_slam/slam
+   modules/5_path_planning/path_planning
+   modules/6_path_tracking/path_tracking
+   modules/7_arm_navigation/arm_navigation
+   modules/8_aerial_navigation/aerial_navigation
+   modules/9_bipedal/bipedal
+   modules/10_control/control
+   modules/11_utils/utils
+   modules/12_appendix/appendix
    how_to_contribute
 
 

diff --git a/docs/modules/control/control_main.rst → docs/modules/10_control/control_main.rst b/docs/modules/control/control_main.rst → docs/modules/10_control/control_main.rst
diff --git a/...ed_pendulum_control/inverted-pendulum.png → ...ed_pendulum_control/inverted-pendulum.png b/...ed_pendulum_control/inverted-pendulum.png → ...ed_pendulum_control/inverted-pendulum.png
diff --git a/...ontrol/inverted_pendulum_control_main.rst → ...ontrol/inverted_pendulum_control_main.rst b/...ontrol/inverted_pendulum_control_main.rst → ...ontrol/inverted_pendulum_control_main.rst
diff --git a/...e_control/move_to_a_pose_control_main.rst → ...e_control/move_to_a_pose_control_main.rst b/...e_control/move_to_a_pose_control_main.rst → ...e_control/move_to_a_pose_control_main.rst
diff --git a/docs/modules/utils/plot/curvature_plot.png → .../modules/11_utils/plot/curvature_plot.png b/docs/modules/utils/plot/curvature_plot.png → .../modules/11_utils/plot/curvature_plot.png
diff --git a/docs/modules/utils/plot/plot_main.rst → docs/modules/11_utils/plot/plot_main.rst b/docs/modules/utils/plot/plot_main.rst → docs/modules/11_utils/plot/plot_main.rst
diff --git a/docs/modules/utils/utils_main.rst → docs/modules/11_utils/utils_main.rst b/docs/modules/utils/utils_main.rst → docs/modules/11_utils/utils_main.rst
diff --git a/...ics_2_files/Kalmanfilter_basics_2_5_0.png → ...ics_2_files/Kalmanfilter_basics_2_5_0.png b/...ics_2_files/Kalmanfilter_basics_2_5_0.png → ...ics_2_files/Kalmanfilter_basics_2_5_0.png
diff --git a/...s/appendix/Kalmanfilter_basics_2_main.rst → ...2_appendix/Kalmanfilter_basics_2_main.rst b/...s/appendix/Kalmanfilter_basics_2_main.rst → ...2_appendix/Kalmanfilter_basics_2_main.rst
diff --git a/...basics_files/Kalmanfilter_basics_14_1.png → ...basics_files/Kalmanfilter_basics_14_1.png b/...basics_files/Kalmanfilter_basics_14_1.png → ...basics_files/Kalmanfilter_basics_14_1.png
diff --git a/...basics_files/Kalmanfilter_basics_16_0.png → ...basics_files/Kalmanfilter_basics_16_0.png b/...basics_files/Kalmanfilter_basics_16_0.png → ...basics_files/Kalmanfilter_basics_16_0.png
diff --git a/...basics_files/Kalmanfilter_basics_19_1.png → ...basics_files/Kalmanfilter_basics_19_1.png b/...basics_files/Kalmanfilter_basics_19_1.png → ...basics_files/Kalmanfilter_basics_19_1.png
diff --git a/...basics_files/Kalmanfilter_basics_21_1.png → ...basics_files/Kalmanfilter_basics_21_1.png b/...basics_files/Kalmanfilter_basics_21_1.png → ...basics_files/Kalmanfilter_basics_21_1.png
diff --git a/...basics_files/Kalmanfilter_basics_22_0.png → ...basics_files/Kalmanfilter_basics_22_0.png b/...basics_files/Kalmanfilter_basics_22_0.png → ...basics_files/Kalmanfilter_basics_22_0.png
diff --git a/...basics_files/Kalmanfilter_basics_28_1.png → ...basics_files/Kalmanfilter_basics_28_1.png b/...basics_files/Kalmanfilter_basics_28_1.png → ...basics_files/Kalmanfilter_basics_28_1.png
diff --git a/...les/appendix/Kalmanfilter_basics_main.rst → .../12_appendix/Kalmanfilter_basics_main.rst b/...les/appendix/Kalmanfilter_basics_main.rst → .../12_appendix/Kalmanfilter_basics_main.rst
diff --git a/docs/modules/appendix/appendix_main.rst → docs/modules/12_appendix/appendix_main.rst b/docs/modules/appendix/appendix_main.rst → docs/modules/12_appendix/appendix_main.rst
diff --git a/.../steering_motion_model/steering_model.png → .../steering_motion_model/steering_model.png b/.../steering_motion_model/steering_model.png → .../steering_motion_model/steering_model.png
diff --git a/...ing_motion_model/turning_radius_calc1.png → ...ing_motion_model/turning_radius_calc1.png b/...ing_motion_model/turning_radius_calc1.png → ...ing_motion_model/turning_radius_calc1.png
diff --git a/...ing_motion_model/turning_radius_calc2.png → ...ing_motion_model/turning_radius_calc2.png b/...ing_motion_model/turning_radius_calc2.png → ...ing_motion_model/turning_radius_calc2.png
diff --git a/...s/appendix/steering_motion_model_main.rst → ...2_appendix/steering_motion_model_main.rst b/...s/appendix/steering_motion_model_main.rst → ...2_appendix/steering_motion_model_main.rst
diff --git a/...modules/1_introduction/1_definition_of_robotics/definition_of_robotics_main.rst b/...modules/1_introduction/1_definition_of_robotics/definition_of_robotics_main.rst
@@ -0,0 +1,4 @@
+Definition of Robotics
+----------------------
+
+TBD
diff --git a/docs/modules/1_introduction/2_software_for_robotics/software_for_robotics_main.rst b/docs/modules/1_introduction/2_software_for_robotics/software_for_robotics_main.rst
@@ -0,0 +1,7 @@
+Software for Robotics
+----------------------
+
+Python for Robotics
+~~~~~~~~~~~~~~~~~~~~~
+
+TBD
diff --git a/...dules/1_introduction/3_technology_for_robotics/technology_for_robotics_main.rst b/...dules/1_introduction/3_technology_for_robotics/technology_for_robotics_main.rst
@@ -0,0 +1,4 @@
+Technology for Robotics
+-------------------------
+
+TBD
diff --git a/docs/modules/1_introduction/introduction_main.rst b/docs/modules/1_introduction/introduction_main.rst
@@ -0,0 +1,13 @@
+.. _introduction:
+
+Introduction
+============
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Table of Contents
+
+   1_definition_of_robotics/definition_of_robotics
+   2_software_for_robotics/software_for_robotics
+   3_technology_for_robotics/technology_for_robotics
+
diff --git a/...amble_kalman_filter_localization_main.rst → ...amble_kalman_filter_localization_main.rst b/...amble_kalman_filter_localization_main.rst → ...amble_kalman_filter_localization_main.rst
diff --git a/...iles/ekf_with_velocity_correction_1_0.png → ...iles/ekf_with_velocity_correction_1_0.png b/...iles/ekf_with_velocity_correction_1_0.png → ...iles/ekf_with_velocity_correction_1_0.png
diff --git a/...tended_kalman_filter_localization_1_0.png → ...tended_kalman_filter_localization_1_0.png b/...tended_kalman_filter_localization_1_0.png → ...tended_kalman_filter_localization_1_0.png
diff --git a/...ended_kalman_filter_localization_main.rst → ...ended_kalman_filter_localization_main.rst b/...ended_kalman_filter_localization_main.rst → ...ended_kalman_filter_localization_main.rst
diff --git a/...ation/histogram_filter_localization/1.png → ...ation/histogram_filter_localization/1.png b/...ation/histogram_filter_localization/1.png → ...ation/histogram_filter_localization/1.png
diff --git a/...ation/histogram_filter_localization/2.png → ...ation/histogram_filter_localization/2.png b/...ation/histogram_filter_localization/2.png → ...ation/histogram_filter_localization/2.png
diff --git a/...ation/histogram_filter_localization/3.png → ...ation/histogram_filter_localization/3.png b/...ation/histogram_filter_localization/3.png → ...ation/histogram_filter_localization/3.png
diff --git a/...ation/histogram_filter_localization/4.png → ...ation/histogram_filter_localization/4.png b/...ation/histogram_filter_localization/4.png → ...ation/histogram_filter_localization/4.png
diff --git a/...on/histogram_filter_localization_main.rst → ...on/histogram_filter_localization_main.rst b/...on/histogram_filter_localization_main.rst → ...on/histogram_filter_localization_main.rst
diff --git a/...odules/localization/localization_main.rst → ...ules/2_localization/localization_main.rst b/...odules/localization/localization_main.rst → ...ules/2_localization/localization_main.rst
diff --git a/...ion/particle_filter_localization_main.rst → ...ion/particle_filter_localization_main.rst b/...ion/particle_filter_localization_main.rst → ...ion/particle_filter_localization_main.rst
diff --git a/...ented_kalman_filter_localization_main.rst → ...ented_kalman_filter_localization_main.rst b/...ented_kalman_filter_localization_main.rst → ...ented_kalman_filter_localization_main.rst
diff --git a/...ng/circle_fitting/circle_fitting_main.rst → ...ng/circle_fitting/circle_fitting_main.rst b/...ng/circle_fitting/circle_fitting_main.rst → ...ng/circle_fitting/circle_fitting_main.rst
diff --git a/...ssian_grid_map/gaussian_grid_map_main.rst → ...ssian_grid_map/gaussian_grid_map_main.rst b/...ssian_grid_map/gaussian_grid_map_main.rst → ...ssian_grid_map/gaussian_grid_map_main.rst
diff --git a/...tering/k_means_object_clustering_main.rst → ...tering/k_means_object_clustering_main.rst b/...tering/k_means_object_clustering_main.rst → ...tering/k_means_object_clustering_main.rst
diff --git a/...to_grid_map_tutorial/grid_map_example.png → ...to_grid_map_tutorial/grid_map_example.png b/...to_grid_map_tutorial/grid_map_example.png → ...to_grid_map_tutorial/grid_map_example.png
diff --git a/...orial/lidar_to_grid_map_tutorial_12_0.png → ...orial/lidar_to_grid_map_tutorial_12_0.png b/...orial/lidar_to_grid_map_tutorial_12_0.png → ...orial/lidar_to_grid_map_tutorial_12_0.png
diff --git a/...orial/lidar_to_grid_map_tutorial_14_1.png → ...orial/lidar_to_grid_map_tutorial_14_1.png b/...orial/lidar_to_grid_map_tutorial_14_1.png → ...orial/lidar_to_grid_map_tutorial_14_1.png
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diff --git a/...orial/lidar_to_grid_map_tutorial_main.rst → ...orial/lidar_to_grid_map_tutorial_main.rst b/...orial/lidar_to_grid_map_tutorial_main.rst → ...orial/lidar_to_grid_map_tutorial_main.rst
diff --git a/docs/modules/mapping/mapping_main.rst → docs/modules/3_mapping/mapping_main.rst b/docs/modules/mapping/mapping_main.rst → docs/modules/3_mapping/mapping_main.rst
diff --git a/...dules/mapping/ndt_map/grid_clustering.png → ...les/3_mapping/ndt_map/grid_clustering.png b/...dules/mapping/ndt_map/grid_clustering.png → ...les/3_mapping/ndt_map/grid_clustering.png
diff --git a/docs/modules/mapping/ndt_map/ndt_map1.png → docs/modules/3_mapping/ndt_map/ndt_map1.png b/docs/modules/mapping/ndt_map/ndt_map1.png → docs/modules/3_mapping/ndt_map/ndt_map1.png
diff --git a/docs/modules/mapping/ndt_map/ndt_map2.png → docs/modules/3_mapping/ndt_map/ndt_map2.png b/docs/modules/mapping/ndt_map/ndt_map2.png → docs/modules/3_mapping/ndt_map/ndt_map2.png
diff --git a/.../modules/mapping/ndt_map/ndt_map_main.rst → ...odules/3_mapping/ndt_map/ndt_map_main.rst b/.../modules/mapping/ndt_map/ndt_map_main.rst → ...odules/3_mapping/ndt_map/ndt_map_main.rst
diff --git a/...ules/mapping/ndt_map/raw_observations.png → ...es/3_mapping/ndt_map/raw_observations.png b/...ules/mapping/ndt_map/raw_observations.png → ...es/3_mapping/ndt_map/raw_observations.png
diff --git a/..._vector_estimation/normal_vector_calc.png → ..._vector_estimation/normal_vector_calc.png b/..._vector_estimation/normal_vector_calc.png → ..._vector_estimation/normal_vector_calc.png
diff --git a/...imation/normal_vector_estimation_main.rst → ...imation/normal_vector_estimation_main.rst b/...imation/normal_vector_estimation_main.rst → ...imation/normal_vector_estimation_main.rst
diff --git a/...ation/ransac_normal_vector_estimation.png → ...ation/ransac_normal_vector_estimation.png b/...ation/ransac_normal_vector_estimation.png → ...ation/ransac_normal_vector_estimation.png
diff --git a/...loud_sampling/farthest_point_sampling.png → ...loud_sampling/farthest_point_sampling.png b/...loud_sampling/farthest_point_sampling.png → ...loud_sampling/farthest_point_sampling.png
diff --git a/...ud_sampling/point_cloud_sampling_main.rst → ...ud_sampling/point_cloud_sampling_main.rst b/...ud_sampling/point_cloud_sampling_main.rst → ...ud_sampling/point_cloud_sampling_main.rst
diff --git a/..._cloud_sampling/poisson_disk_sampling.png → ..._cloud_sampling/poisson_disk_sampling.png b/..._cloud_sampling/poisson_disk_sampling.png → ..._cloud_sampling/poisson_disk_sampling.png
diff --git a/...t_cloud_sampling/voxel_point_sampling.png → ...t_cloud_sampling/voxel_point_sampling.png b/...t_cloud_sampling/voxel_point_sampling.png → ...t_cloud_sampling/voxel_point_sampling.png
diff --git a/...ng_grid_map/ray_casting_grid_map_main.rst → ...ng_grid_map/ray_casting_grid_map_main.rst b/...ng_grid_map/ray_casting_grid_map_main.rst → ...ng_grid_map/ray_casting_grid_map_main.rst
diff --git a/...tangle_fitting/rectangle_fitting_main.rst → ...tangle_fitting/rectangle_fitting_main.rst b/...tangle_fitting/rectangle_fitting_main.rst → ...tangle_fitting/rectangle_fitting_main.rst
diff --git a/...modules/slam/FastSLAM1/FastSLAM1_12_0.png → ...dules/4_slam/FastSLAM1/FastSLAM1_12_0.png b/...modules/slam/FastSLAM1/FastSLAM1_12_0.png → ...dules/4_slam/FastSLAM1/FastSLAM1_12_0.png
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diff --git a/...planning/bspline_path/basis_functions.png → ...planning/bspline_path/basis_functions.png b/...planning/bspline_path/basis_functions.png → ...planning/bspline_path/basis_functions.png
diff --git a/...anning/bspline_path/bspline_path_main.rst → ...anning/bspline_path/bspline_path_main.rst b/...anning/bspline_path/bspline_path_main.rst → ...anning/bspline_path/bspline_path_main.rst
diff --git a/...ng/bspline_path/bspline_path_planning.png → ...ng/bspline_path/bspline_path_planning.png b/...ng/bspline_path/bspline_path_planning.png → ...ng/bspline_path/bspline_path_planning.png
diff --git a/...ing/bspline_path/interp_and_curvature.png → ...ing/bspline_path/interp_and_curvature.png b/...ing/bspline_path/interp_and_curvature.png → ...ing/bspline_path/interp_and_curvature.png
diff --git a/..._planning/bspline_path/interpolation1.png → ..._planning/bspline_path/interpolation1.png b/..._planning/bspline_path/interpolation1.png → ..._planning/bspline_path/interpolation1.png
diff --git a/...h_planning/bugplanner/bugplanner_main.rst → ...h_planning/bugplanner/bugplanner_main.rst b/...h_planning/bugplanner/bugplanner_main.rst → ...h_planning/bugplanner/bugplanner_main.rst
diff --git a/...catmull_rom_spline/blending_functions.png → ...catmull_rom_spline/blending_functions.png b/...catmull_rom_spline/blending_functions.png → ...catmull_rom_spline/blending_functions.png
diff --git a/..._rom_spline/catmull_rom_path_planning.png → ..._rom_spline/catmull_rom_path_planning.png b/..._rom_spline/catmull_rom_path_planning.png → ..._rom_spline/catmull_rom_path_planning.png
diff --git a/...ll_rom_spline/catmull_rom_spline_main.rst → ...ll_rom_spline/catmull_rom_spline_main.rst b/...ll_rom_spline/catmull_rom_spline_main.rst → ...ll_rom_spline/catmull_rom_spline_main.rst
diff --git a/...ing/closed_loop_rrt_star_car/Figure_1.png → ...ing/closed_loop_rrt_star_car/Figure_1.png b/...ing/closed_loop_rrt_star_car/Figure_1.png → ...ing/closed_loop_rrt_star_car/Figure_1.png
diff --git a/...ing/closed_loop_rrt_star_car/Figure_3.png → ...ing/closed_loop_rrt_star_car/Figure_3.png b/...ing/closed_loop_rrt_star_car/Figure_3.png → ...ing/closed_loop_rrt_star_car/Figure_3.png
diff --git a/...ing/closed_loop_rrt_star_car/Figure_4.png → ...ing/closed_loop_rrt_star_car/Figure_4.png b/...ing/closed_loop_rrt_star_car/Figure_4.png → ...ing/closed_loop_rrt_star_car/Figure_4.png
diff --git a/...ing/closed_loop_rrt_star_car/Figure_5.png → ...ing/closed_loop_rrt_star_car/Figure_5.png b/...ing/closed_loop_rrt_star_car/Figure_5.png → ...ing/closed_loop_rrt_star_car/Figure_5.png
diff --git a/...ning/clothoid_path/clothoid_path_main.rst → ...ning/clothoid_path/clothoid_path_main.rst b/...ning/clothoid_path/clothoid_path_main.rst → ...ning/clothoid_path/clothoid_path_main.rst
diff --git a/...ning/coverage_path/coverage_path_main.rst → ...ning/coverage_path/coverage_path_main.rst b/...ning/coverage_path/coverage_path_main.rst → ...ning/coverage_path/coverage_path_main.rst
diff --git a/...planning/cubic_spline/cubic_spline_1d.png → ...planning/cubic_spline/cubic_spline_1d.png b/...planning/cubic_spline/cubic_spline_1d.png → ...planning/cubic_spline/cubic_spline_1d.png
diff --git a/...ubic_spline/cubic_spline_2d_curvature.png → ...ubic_spline/cubic_spline_2d_curvature.png b/...ubic_spline/cubic_spline_2d_curvature.png → ...ubic_spline/cubic_spline_2d_curvature.png
diff --git a/...ing/cubic_spline/cubic_spline_2d_path.png → ...ing/cubic_spline/cubic_spline_2d_path.png b/...ing/cubic_spline/cubic_spline_2d_path.png → ...ing/cubic_spline/cubic_spline_2d_path.png
diff --git a/...ning/cubic_spline/cubic_spline_2d_yaw.png → ...ning/cubic_spline/cubic_spline_2d_yaw.png b/...ning/cubic_spline/cubic_spline_2d_yaw.png → ...ning/cubic_spline/cubic_spline_2d_yaw.png
diff --git a/...anning/cubic_spline/cubic_spline_main.rst → ...anning/cubic_spline/cubic_spline_main.rst b/...anning/cubic_spline/cubic_spline_main.rst → ...anning/cubic_spline/cubic_spline_main.rst
diff --git a/...les/path_planning/cubic_spline/spline.png → ...s/5_path_planning/cubic_spline/spline.png b/...les/path_planning/cubic_spline/spline.png → ...s/5_path_planning/cubic_spline/spline.png
diff --git a/...anning/cubic_spline/spline_continuity.png → ...anning/cubic_spline/spline_continuity.png b/...anning/cubic_spline/spline_continuity.png → ...anning/cubic_spline/spline_continuity.png
diff --git a/...modules/path_planning/dubins_path/RLR.jpg → ...dules/5_path_planning/dubins_path/RLR.jpg b/...modules/path_planning/dubins_path/RLR.jpg → ...dules/5_path_planning/dubins_path/RLR.jpg
diff --git a/...modules/path_planning/dubins_path/RSR.jpg → ...dules/5_path_planning/dubins_path/RSR.jpg b/...modules/path_planning/dubins_path/RSR.jpg → ...dules/5_path_planning/dubins_path/RSR.jpg
diff --git a/...path_planning/dubins_path/dubins_path.jpg → ...path_planning/dubins_path/dubins_path.jpg b/...path_planning/dubins_path/dubins_path.jpg → ...path_planning/dubins_path/dubins_path.jpg
diff --git a/...planning/dubins_path/dubins_path_main.rst → ...planning/dubins_path/dubins_path_main.rst b/...planning/dubins_path/dubins_path_main.rst → ...planning/dubins_path/dubins_path_main.rst
diff --git a/...approach/dynamic_window_approach_main.rst → ...approach/dynamic_window_approach_main.rst b/...approach/dynamic_window_approach_main.rst → ...approach/dynamic_window_approach_main.rst
diff --git a/...planning/eta3_spline/eta3_spline_main.rst → ...planning/eta3_spline/eta3_spline_main.rst b/...planning/eta3_spline/eta3_spline_main.rst → ...planning/eta3_spline/eta3_spline_main.rst
diff --git a/...net_frame_path/frenet_frame_path_main.rst → ...net_frame_path/frenet_frame_path_main.rst b/...net_frame_path/frenet_frame_path_main.rst → ...net_frame_path/frenet_frame_path_main.rst
diff --git a/...rid_base_search/grid_base_search_main.rst → ...rid_base_search/grid_base_search_main.rst b/...rid_base_search/grid_base_search_main.rst → ...rid_base_search/grid_base_search_main.rst
diff --git a/...planning/hybridastar/hybridastar_main.rst → ...planning/hybridastar/hybridastar_main.rst b/...planning/hybridastar/hybridastar_main.rst → ...planning/hybridastar/hybridastar_main.rst
diff --git a/.../path_planning/lqr_path/lqr_path_main.rst → ..._path_planning/lqr_path/lqr_path_main.rst b/.../path_planning/lqr_path/lqr_path_main.rst → ..._path_planning/lqr_path/lqr_path_main.rst
diff --git a/...ive_trajectory_generator/lookup_table.png → ...ive_trajectory_generator/lookup_table.png b/...ive_trajectory_generator/lookup_table.png → ...ive_trajectory_generator/lookup_table.png
diff --git a/..._predictive_trajectory_generator_main.rst → ..._predictive_trajectory_generator_main.rst b/..._predictive_trajectory_generator_main.rst → ..._predictive_trajectory_generator_main.rst
diff --git a/...ules/path_planning/path_planning_main.rst → ...es/5_path_planning/path_planning_main.rst b/...ules/path_planning/path_planning_main.rst → ...es/5_path_planning/path_planning_main.rst
diff --git a/...planning/prm_planner/prm_planner_main.rst → ...planning/prm_planner/prm_planner_main.rst b/...planning/prm_planner/prm_planner_main.rst → ...planning/prm_planner/prm_planner_main.rst
diff --git a/...nner/quintic_polynomials_planner_main.rst → ...nner/quintic_polynomials_planner_main.rst b/...nner/quintic_polynomials_planner_main.rst → ...nner/quintic_polynomials_planner_main.rst
diff --git a/...s/path_planning/reeds_shepp_path/LR_L.png → ...5_path_planning/reeds_shepp_path/LR_L.png b/...s/path_planning/reeds_shepp_path/LR_L.png → ...5_path_planning/reeds_shepp_path/LR_L.png
diff --git a/.../path_planning/reeds_shepp_path/LR_LR.png → ..._path_planning/reeds_shepp_path/LR_LR.png b/.../path_planning/reeds_shepp_path/LR_LR.png → ..._path_planning/reeds_shepp_path/LR_LR.png
diff --git a/...es/path_planning/reeds_shepp_path/LSL.png → .../5_path_planning/reeds_shepp_path/LSL.png b/...es/path_planning/reeds_shepp_path/LSL.png → .../5_path_planning/reeds_shepp_path/LSL.png
diff --git a/...ath_planning/reeds_shepp_path/LSL90xR.png → ...ath_planning/reeds_shepp_path/LSL90xR.png b/...ath_planning/reeds_shepp_path/LSL90xR.png → ...ath_planning/reeds_shepp_path/LSL90xR.png
diff --git a/...es/path_planning/reeds_shepp_path/LSR.png → .../5_path_planning/reeds_shepp_path/LSR.png b/...es/path_planning/reeds_shepp_path/LSR.png → .../5_path_planning/reeds_shepp_path/LSR.png
diff --git a/...ath_planning/reeds_shepp_path/LSR90_L.png → ...ath_planning/reeds_shepp_path/LSR90_L.png b/...ath_planning/reeds_shepp_path/LSR90_L.png → ...ath_planning/reeds_shepp_path/LSR90_L.png
diff --git a/...ath_planning/reeds_shepp_path/L_R90SL.png → ...ath_planning/reeds_shepp_path/L_R90SL.png b/...ath_planning/reeds_shepp_path/L_R90SL.png → ...ath_planning/reeds_shepp_path/L_R90SL.png
diff --git a/...planning/reeds_shepp_path/L_R90SL90_R.png → ...planning/reeds_shepp_path/L_R90SL90_R.png b/...planning/reeds_shepp_path/L_R90SL90_R.png → ...planning/reeds_shepp_path/L_R90SL90_R.png
diff --git a/...ath_planning/reeds_shepp_path/L_R90SR.png → ...ath_planning/reeds_shepp_path/L_R90SR.png b/...ath_planning/reeds_shepp_path/L_R90SR.png → ...ath_planning/reeds_shepp_path/L_R90SR.png
diff --git a/...s/path_planning/reeds_shepp_path/L_RL.png → ...5_path_planning/reeds_shepp_path/L_RL.png b/...s/path_planning/reeds_shepp_path/L_RL.png → ...5_path_planning/reeds_shepp_path/L_RL.png
diff --git a/...path_planning/reeds_shepp_path/L_RL_R.png → ...path_planning/reeds_shepp_path/L_RL_R.png b/...path_planning/reeds_shepp_path/L_RL_R.png → ...path_planning/reeds_shepp_path/L_RL_R.png
diff --git a/.../path_planning/reeds_shepp_path/L_R_L.png → ..._path_planning/reeds_shepp_path/L_R_L.png b/.../path_planning/reeds_shepp_path/L_R_L.png → ..._path_planning/reeds_shepp_path/L_R_L.png
diff --git a/...eeds_shepp_path/reeds_shepp_path_main.rst → ...eeds_shepp_path/reeds_shepp_path_main.rst b/...eeds_shepp_path/reeds_shepp_path_main.rst → ...eeds_shepp_path/reeds_shepp_path_main.rst
diff --git a/docs/modules/path_planning/rrt/figure_1.png → .../modules/5_path_planning/rrt/figure_1.png b/docs/modules/path_planning/rrt/figure_1.png → .../modules/5_path_planning/rrt/figure_1.png
diff --git a/docs/modules/path_planning/rrt/rrt_main.rst → .../modules/5_path_planning/rrt/rrt_main.rst b/docs/modules/path_planning/rrt/rrt_main.rst → .../modules/5_path_planning/rrt/rrt_main.rst
diff --git a/docs/modules/path_planning/rrt/rrt_star.rst → .../modules/5_path_planning/rrt/rrt_star.rst b/docs/modules/path_planning/rrt/rrt_star.rst → .../modules/5_path_planning/rrt/rrt_star.rst
diff --git a/...th_planning/rrt/rrt_star/rrt_star_1_0.png → ...th_planning/rrt/rrt_star/rrt_star_1_0.png b/...th_planning/rrt/rrt_star/rrt_star_1_0.png → ...th_planning/rrt/rrt_star/rrt_star_1_0.png
diff --git a/...ing/rrt/rrt_star_reeds_shepp/figure_1.png → ...ing/rrt/rrt_star_reeds_shepp/figure_1.png b/...ing/rrt/rrt_star_reeds_shepp/figure_1.png → ...ing/rrt/rrt_star_reeds_shepp/figure_1.png
diff --git a/...anning/state_lattice_planner/Figure_1.png → ...anning/state_lattice_planner/Figure_1.png b/...anning/state_lattice_planner/Figure_1.png → ...anning/state_lattice_planner/Figure_1.png
diff --git a/...anning/state_lattice_planner/Figure_2.png → ...anning/state_lattice_planner/Figure_2.png b/...anning/state_lattice_planner/Figure_2.png → ...anning/state_lattice_planner/Figure_2.png
diff --git a/...anning/state_lattice_planner/Figure_3.png → ...anning/state_lattice_planner/Figure_3.png b/...anning/state_lattice_planner/Figure_3.png → ...anning/state_lattice_planner/Figure_3.png
diff --git a/...anning/state_lattice_planner/Figure_4.png → ...anning/state_lattice_planner/Figure_4.png b/...anning/state_lattice_planner/Figure_4.png → ...anning/state_lattice_planner/Figure_4.png
diff --git a/...anning/state_lattice_planner/Figure_5.png → ...anning/state_lattice_planner/Figure_5.png b/...anning/state_lattice_planner/Figure_5.png → ...anning/state_lattice_planner/Figure_5.png
diff --git a/...anning/state_lattice_planner/Figure_6.png → ...anning/state_lattice_planner/Figure_6.png b/...anning/state_lattice_planner/Figure_6.png → ...anning/state_lattice_planner/Figure_6.png
diff --git a/...ce_planner/state_lattice_planner_main.rst → ...ce_planner/state_lattice_planner_main.rst b/...ce_planner/state_lattice_planner_main.rst → ...ce_planner/state_lattice_planner_main.rst
diff --git a/...ing/visibility_road_map_planner/step0.png → ...ing/visibility_road_map_planner/step0.png b/...ing/visibility_road_map_planner/step0.png → ...ing/visibility_road_map_planner/step0.png
diff --git a/...ing/visibility_road_map_planner/step1.png → ...ing/visibility_road_map_planner/step1.png b/...ing/visibility_road_map_planner/step1.png → ...ing/visibility_road_map_planner/step1.png
diff --git a/...ing/visibility_road_map_planner/step2.png → ...ing/visibility_road_map_planner/step2.png b/...ing/visibility_road_map_planner/step2.png → ...ing/visibility_road_map_planner/step2.png
diff --git a/...ing/visibility_road_map_planner/step3.png → ...ing/visibility_road_map_planner/step3.png b/...ing/visibility_road_map_planner/step3.png → ...ing/visibility_road_map_planner/step3.png
diff --git a/...nner/visibility_road_map_planner_main.rst → ...nner/visibility_road_map_planner_main.rst b/...nner/visibility_road_map_planner_main.rst → ...nner/visibility_road_map_planner_main.rst
diff --git a/...planning/vrm_planner/vrm_planner_main.rst → ...planning/vrm_planner/vrm_planner_main.rst b/...planning/vrm_planner/vrm_planner_main.rst → ...planning/vrm_planner/vrm_planner_main.rst
diff --git a/..._tracking/cgmres_nmpc/cgmres_nmpc_1_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_1_0.png b/..._tracking/cgmres_nmpc/cgmres_nmpc_1_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_1_0.png
diff --git a/..._tracking/cgmres_nmpc/cgmres_nmpc_2_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_2_0.png b/..._tracking/cgmres_nmpc/cgmres_nmpc_2_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_2_0.png
diff --git a/..._tracking/cgmres_nmpc/cgmres_nmpc_3_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_3_0.png b/..._tracking/cgmres_nmpc/cgmres_nmpc_3_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_3_0.png
diff --git a/..._tracking/cgmres_nmpc/cgmres_nmpc_4_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_4_0.png b/..._tracking/cgmres_nmpc/cgmres_nmpc_4_0.png → ..._tracking/cgmres_nmpc/cgmres_nmpc_4_0.png
diff --git a/...tracking/cgmres_nmpc/cgmres_nmpc_main.rst → ...tracking/cgmres_nmpc/cgmres_nmpc_main.rst b/...tracking/cgmres_nmpc/cgmres_nmpc_main.rst → ...tracking/cgmres_nmpc/cgmres_nmpc_main.rst
diff --git a/...l/lqr_speed_and_steering_control_main.rst → ...l/lqr_speed_and_steering_control_main.rst b/...l/lqr_speed_and_steering_control_main.rst → ...l/lqr_speed_and_steering_control_main.rst
diff --git a/...ng_control/lqr_steering_control_model.jpg → ...ng_control/lqr_steering_control_model.jpg b/...ng_control/lqr_steering_control_model.jpg → ...ng_control/lqr_steering_control_model.jpg
diff --git a/.../lqr_speed_and_steering_control/speed.png → .../lqr_speed_and_steering_control/speed.png b/.../lqr_speed_and_steering_control/speed.png → .../lqr_speed_and_steering_control/speed.png
diff --git a/...ng/lqr_speed_and_steering_control/x-y.png → ...ng/lqr_speed_and_steering_control/x-y.png b/...ng/lqr_speed_and_steering_control/x-y.png → ...ng/lqr_speed_and_steering_control/x-y.png
diff --git a/...ng/lqr_speed_and_steering_control/yaw.png → ...ng/lqr_speed_and_steering_control/yaw.png b/...ng/lqr_speed_and_steering_control/yaw.png → ...ng/lqr_speed_and_steering_control/yaw.png
diff --git a/...ing_control/lqr_steering_control_main.rst → ...ing_control/lqr_steering_control_main.rst b/...ing_control/lqr_steering_control_main.rst → ...ing_control/lqr_steering_control_main.rst
diff --git a/...ng_control/lqr_steering_control_model.jpg → ...ng_control/lqr_steering_control_model.jpg b/...ng_control/lqr_steering_control_model.jpg → ...ng_control/lqr_steering_control_model.jpg
diff --git a/...ctive_speed_and_steering_control_main.rst → ...ctive_speed_and_steering_control_main.rst b/...ctive_speed_and_steering_control_main.rst → ...ctive_speed_and_steering_control_main.rst
diff --git a/...ules/path_tracking/path_tracking_main.rst → ...es/6_path_tracking/path_tracking_main.rst b/...ules/path_tracking/path_tracking_main.rst → ...es/6_path_tracking/path_tracking_main.rst
diff --git a/...t_tracking/pure_pursuit_tracking_main.rst → ...t_tracking/pure_pursuit_tracking_main.rst b/...t_tracking/pure_pursuit_tracking_main.rst → ...t_tracking/pure_pursuit_tracking_main.rst
diff --git a/...trol/rear_wheel_feedback_control_main.rst → ...trol/rear_wheel_feedback_control_main.rst b/...trol/rear_wheel_feedback_control_main.rst → ...trol/rear_wheel_feedback_control_main.rst
diff --git a/.../stanley_control/stanley_control_main.rst → .../stanley_control/stanley_control_main.rst b/.../stanley_control/stanley_control_main.rst → .../stanley_control/stanley_control_main.rst
diff --git a/...Link_IK_files/Planar_Two_Link_IK_12_0.png → ...Link_IK_files/Planar_Two_Link_IK_12_0.png b/...Link_IK_files/Planar_Two_Link_IK_12_0.png → ...Link_IK_files/Planar_Two_Link_IK_12_0.png
diff --git a/..._Link_IK_files/Planar_Two_Link_IK_5_0.png → ..._Link_IK_files/Planar_Two_Link_IK_5_0.png b/..._Link_IK_files/Planar_Two_Link_IK_5_0.png → ..._Link_IK_files/Planar_Two_Link_IK_5_0.png
diff --git a/..._Link_IK_files/Planar_Two_Link_IK_7_0.png → ..._Link_IK_files/Planar_Two_Link_IK_7_0.png b/..._Link_IK_files/Planar_Two_Link_IK_7_0.png → ..._Link_IK_files/Planar_Two_Link_IK_7_0.png
diff --git a/..._Link_IK_files/Planar_Two_Link_IK_9_0.png → ..._Link_IK_files/Planar_Two_Link_IK_9_0.png b/..._Link_IK_files/Planar_Two_Link_IK_9_0.png → ..._Link_IK_files/Planar_Two_Link_IK_9_0.png
diff --git a/...es/arm_navigation/arm_navigation_main.rst → .../7_arm_navigation/arm_navigation_main.rst b/...es/arm_navigation/arm_navigation_main.rst → .../7_arm_navigation/arm_navigation_main.rst
diff --git a/...ion/n_joint_arm_to_point_control_main.rst → ...ion/n_joint_arm_to_point_control_main.rst b/...ion/n_joint_arm_to_point_control_main.rst → ...ion/n_joint_arm_to_point_control_main.rst
diff --git a/...bstacle_avoidance_arm_navigation_main.rst → ...bstacle_avoidance_arm_navigation_main.rst b/...bstacle_avoidance_arm_navigation_main.rst → ...bstacle_avoidance_arm_navigation_main.rst
diff --git a/...rm_navigation/planar_two_link_ik_main.rst → ...rm_navigation/planar_two_link_ik_main.rst b/...rm_navigation/planar_two_link_ik_main.rst → ...rm_navigation/planar_two_link_ik_main.rst
diff --git a/...ial_navigation/aerial_navigation_main.rst → ...ial_navigation/aerial_navigation_main.rst b/...ial_navigation/aerial_navigation_main.rst → ...ial_navigation/aerial_navigation_main.rst
diff --git a/...ng/drone_3d_trajectory_following_main.rst → ...ng/drone_3d_trajectory_following_main.rst b/...ng/drone_3d_trajectory_following_main.rst → ...ng/drone_3d_trajectory_following_main.rst
diff --git a/...d_landing/rocket_powered_landing_main.rst → ...d_landing/rocket_powered_landing_main.rst b/...d_landing/rocket_powered_landing_main.rst → ...d_landing/rocket_powered_landing_main.rst
diff --git a/docs/modules/bipedal/bipedal_main.rst → docs/modules/9_bipedal/bipedal_main.rst b/docs/modules/bipedal/bipedal_main.rst → docs/modules/9_bipedal/bipedal_main.rst
diff --git a/.../bipedal_planner/bipedal_planner_main.rst → .../bipedal_planner/bipedal_planner_main.rst b/.../bipedal_planner/bipedal_planner_main.rst → .../bipedal_planner/bipedal_planner_main.rst
diff --git a/docs/modules/introduction_main.rst b/docs/modules/introduction_main.rst
diff --git a/...modules/slam/graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif b/...modules/slam/graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif