Figure 6. Rover Motion Model.
At each time step, each rover determines a continuous dy value to represent how far it moves in the direction it
is facing, and a dx value determining how far it turns. Its heading at the next time step is the same as the vector (dx + dy).
Figure 7. Rovers Under Partial Observability of Range Denoted by the Dotted Line.
Both rover A and rover B can sense and observe POI P, but cannot sense each other. In the Di(PO) formulation,
they both would calculate that theirs was the only observation. Additionally, neither rover has any knowledge
of POI Q.