This is an experiment in creating a particle filter based navigation
system for the LEGO NXT robotic system.

The system is written in Java using the lejos <<ref missing>> 
alternative runtime system for the NXT bricks.

IMPORTANT:  This code doesn't actually work.  I've just typed
it in and compiled it.  It's neither complete nor correct. It's
a work in progress :-)

I'm working on the correctness now, and the next
step is to apply thorough unit testing.  

Unfortunately Lejos and Junit  don't play nice out of the box
so I had to create a second project, an ordinary
java project in netbeans, that uses the lejos-project's
build directory as a library.  Then I can just write tests
and they will access the lejos classes, but run them using
the standard (not lejos) runtime.   This is perfectly ok
as long as I don't actually access lejos specific parts
of the code (e.g. actual sensor or actuators) during
the testing.   This is perfectly ok by me, since most of
the code that can fail don't do that kind of thing anyway.

Anyhow, I now have some work to do. I have to add
a test-harness for the so-far free-wheeling project
I've written. This will no doubt uncover many kinds
of bugs and design-blunders. I'm looking forward to it :-)

Consequently it will still be a while before any of this
runs on an actual robot.

However, when that glorious day comes it i would be 
nice if the robot could use bluetooth to
transmit its belief-state to the mothership (my
laptop) for realtime visualization. It would also be nice
to incoroporate one or several ultrasonic sensors
to the sensing setup. It's all just a smop :)

If you have an interest in this project or even better,
have something to contribute (review, ideas, assistance)
please contact me at [email protected].