PART IV. LocALIZATION AN D SLAM Assignment: 9. We've considered a number of methods for localization, but gone into the most detail for Markov localization and Kalman filter-based localization. For both approaches, give an example of situations that would "break" the algorithm and explain what the failure would be and why it would occur. 10. Explain the different steps of Kalman filters. Divide them into prediction and correction and give an explanation on how the state and uncertainty evolves