Start, pause, and reset do exactly what you think. You can also use spacebar to pause.

Random maze generates a random maze to use. You can modify the density of walls. The preset options load handmade mazes.

Use WASD to control the robot. Collision detection with walls is *very* rudimetary.

After stopping the simulation, you can view any individual frame by clicking it in the log below

You can also use the left and right arrow keys to navigate, 0 to jump to the first frame, and 9 to jump to the last.

Frame #	Actual Position	Predicted Position	Error	Error Color		Display Options:	LIDAR	Particles	Particle LIDAR

Parameter Name	Value	Description
Maze Properties
Cell Width	60	The width (in pixels) of each cell in the maze.
Cell Height	60	The height (in pixels) of each cell in the maze.
Maze Width	15	The width of the maze, in number of cells.
Maze Height	10	The height of the maze, in number of cells.
Random Maze Density	0.3333	The probability of each cell being a wall when generating a random maze. Should be in the range [0,1].
Starting Location	0 0	The starting cell of the robot. The first entry is the row, and the second entry is the column.
Simulation Settings
Tick Rate	25	The number of ticks per second.
LIDAR Noise	5	Variance of the noise added to LIDAR measurements.
Robot Properties
Speed	60	Speed of the robot, in pixels per second.
Turn Rate	90	Turn rate of the robot, in degrees per second.
LIDAR Resolution	25	Number of points the LIDAR measures. Must be at least 2.
LIDAR FOV	180	The field of view of the LIDAR, in degrees.
Particle Filter Properties
Number of Particles	500	How many particles to use in the particle filter.
Position Noise	5	Variance of the noise added to the position of particles during resampling.
Orientation Noise	15	Variance of the noise added to the orientation of particles during resampling.
Exploration Percentage	0.05	Fraction of particles randomly sampled each iteration. Should be in the range [0,1].