# Design Decisions:¶

Now we like to narrow down and make decisions on which set of sensors we like to use.

## Requirements¶

- Navigation in an arena (2D plane)
- A map and an initial state are given
- Using affordable components and a microprocessor
- Indoor

## Decisions¶

- Since this is a navigation problem, we like to have a full state feedback, Option 1 and 2 are insufficient for our problem.
- Since indoor, Option 6 is not viable
- Since the map and initial states are given, Option 3, 4, and 5 are possible
Since we are using a microprocessor and we like to make the system affordable, Option 3 camera is less attractive

Option 4 and 5 meets our requirements

- Option 4 is more affordable because we only need two sensors, but this will be an open loop state estimation
- Option 5 requires more sensing, but we can do a close loop state estimation

### My Conclusion: I go with Option 4 and 5¶

## Still Unknown, Things to be analyzed and decided later¶

- We don't know whether open/close loop state estimators are necessary for us because our mathematical model does not capture uncertainty in the system now.
- We don't know what state estimators we should use. We need to simulate uncertainties in the system to test out.