This week, as we made the decision on switching our project from drones to rovers, I mainly focused on moving our hardware systems from air to ground. I have been looking for components, and one of the major decisions we made was choosing to use ultra wide band sensors and motor encoders for localization. I have been establishing SPI communications on the Pis. I am also drafting some Kalman filters and Python wrappers. We are currently waiting for UWBs and rovers, so once we have them I will be able to test our setup and work on integration. I am slightly behind schedule as we are making big changes due to unexpected circumstances, but the general schematic remains fairly similar so the shift should not put us too behind once we have the components delivered.