diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf
index 85279b6..44b8893 100644
Binary files a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf and b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf differ
diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex b/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex
index e70ef83..bb7c32f 100644
--- a/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex
+++ b/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex
@@ -79,4 +79,10 @@
 \input{parts/04_vision/04_dense-tracking_loop-closure.tex}
 % \input{parts/04_vision/}
 
+\section{Planning \& Control}
+\input{parts/05_planning-control/00_feedback-control/00_siso-mimo.tex}
+% \input{parts/05_planning-control/00_feedback-control/}
+\input{parts/05_planning-control/01_motion-planning-exploration/00_intro.tex}
+% \input{parts/05_planning-control/01_motion-planning-exploration/}
+
 \end{document}
diff --git a/electives/others/amr/parts/04_vision/02_place-recognition.tex b/electives/others/amr/parts/04_vision/02_place-recognition.tex
index 36d8d6c..01e7a57 100644
--- a/electives/others/amr/parts/04_vision/02_place-recognition.tex
+++ b/electives/others/amr/parts/04_vision/02_place-recognition.tex
@@ -1,3 +1,5 @@
 \subsection{Place Recognition}
 Idea: Build vocab from ``visual words'' (in Training).
 \bi{Runtime} Detect keypoints; Extract descriptors; Build histogram; Query DB for similarity; If no match, insert into DB, else use to compute with e.g. RANSAC
+
+% TODO: Iterative Closest Point (ICP), explained well in Slide Deck 10 recap
diff --git a/electives/others/amr/parts/05_planning-control/00_feedback-control/00_siso-mimo.tex b/electives/others/amr/parts/05_planning-control/00_feedback-control/00_siso-mimo.tex
new file mode 100644
index 0000000..61166a7
--- /dev/null
+++ b/electives/others/amr/parts/05_planning-control/00_feedback-control/00_siso-mimo.tex
@@ -0,0 +1,2 @@
+\subsection{SISO \& MIMO}
+\bi{S{\scriptsize ingle-}I{\scriptsize nput-}S{\scriptsize ingle-}O{\scriptsize utput}}: $r$ Reference
diff --git a/electives/others/amr/parts/05_planning-control/01_motion-planning-exploration/00_intro.tex b/electives/others/amr/parts/05_planning-control/01_motion-planning-exploration/00_intro.tex
new file mode 100644
index 0000000..e69de29