Pat and Jesse are making great strides with the Localization system. We’re basically imitating the Monte Carlo localization that all the serious RoboCup teams employ–but we hope to have a few cool, innovative add-ons as the months go on. The great thing about all this is that we are just using a c++ compiler to check over all the math and programming without using the Aibo itself. This saves time in compilation, making memory sticks, and having to turn the Aibo on/off.