Random Walk Mobility Model
Random Direction Mobility Model
Dynamic Cleaning Problem
Complete Coverage Path Problem

Simulation is Greedy Lookahead??

Probability of sample being in area? Ted indicated they would be evenly distributed throughout the park.

Repenning 22
Castillo-E.en 37 
Hightower and Borriello 38

Boustrophedonic motion

RC heli gyro design?

IMU Relationships

In general the arrow points to the positive direction for acceleration

   Direction   Acceleration    Gyroscope 
   Components UpComponents Down    Components Up Components Down    Components Up Components Down 
Pitch X forwardback  + down+ down +down
(dir of X)
+ down
(dir of X) 
 Yleft left + right+ left  + to right
+ left
(dir of Y)
 Yaw  Z updown  + G-G Z+ clockwise +c-clockwise