EKF calculates the measurement probability distribution of the AGV position for nonlinear models driven by Gaussian noise. Second, the backstepping method using Lyapunov function is adopted to design a controller for the six-legged robot to achieve object following. Each module has three wheel To make the pipe-inspection robot move inside the specific dimension pipeline, the crucial problem is to adjust the diameter of the robot inside the pipeline. Empat dari lima kompetensi dasar yang ada dalam standar isi antara lain menulis kreatif puisi berkenaan dengan keindahan alam, membaca indah puisi, menanggapi cara pembacaan puisi, dan merefleksikan isi puisi yang dibacakan.
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