# Sensor Set Options¶

## Option 1: One Touch Sensor (Example)¶

If Woodbot has only one touch sensor:

### What kind of information can we get?¶

- Binary (boolean) data
- Contact detections
- Obstacle and wall detections

### What state can we estimate? Do we need something else to do so?¶

- If there is a physical contact or not
- Cannot estimate robot local or global states
- We need a rigid wall and physical contacts should be allowed

### What kind of problems can we solve? (applications, use cases, examples)¶

- Maze solving (Right Hand Rule)
- Useless Box Leave Me Alone Woodbot

## Option 2: Two Touch sensors¶

If Woodbot has only one touch sensor:

### What kind of information can we get?¶

## -

Your answer here¶

### What state can we estimate?¶

## -

Your answer here¶

### What kind of problems can we solve? (applications, use cases, examples)¶

## -

Your answer here¶

## Option 3: Camera¶

If Woodbot has only a camera:

### What kind of information can we get?¶

## -

Your answer here¶

### What state can we estimate? Do we need something else to do so?¶

## -

Your answer here¶

### What kind of problems can we solve? (applications, use cases, examples)¶

## -

Your answer here¶

## Option 4: Encoder¶

If Woodbot has only positional encoders on each wheel:

### What kind of information can we get?¶

## -

Your answer here¶

### What state can we estimate? Do we need something else to do so?¶

## -

Your answer here¶

### What kind of problems can we solve? (applications, use cases, examples)¶

## -

Your answer here¶

## Option 5: Two Lidars and IMU¶

If Woodbot has two lidars and IMU:

### What kind of information can we get?¶

## -

Your answer here¶

### What state can we estimate? Do we need something else to do so?¶

## -

Your answer here¶

### What kind of problems can we solve? (applications, use cases, examples)¶

## -

Your answer here¶

## Option 6: GPS + IMU¶

If Woodbot has GPS and IMU:

### What kind of information can we get?¶

## -

Your answer here¶

### What state can we estimate? Do we need something else to do so?¶

## -

Your answer here¶

### What kind of problems can we solve? (applications, use cases, examples)¶

## -

Your answer here¶