diff --git a/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/others/amr/autonomous-mobile-robots-cheatsheet.pdf
index f41d32a..159379d 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 0c633a8..be2e645 100644
--- a/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex
+++ b/electives/others/amr/autonomous-mobile-robots-cheatsheet.tex
@@ -1,17 +1,24 @@
 \documentclass{article}
 
+\PassOptionsToPackage{skip=0pt}{parskip}
 \input{~/projects/latex/janishutz-helpers.tex}
 
 \usepackage{lmodern}
 \setFontType{sans}
 
+\fboxsep 1pt
+\fboxrule 0.1pt
+\renewcommand{\vec}[1]{\textbf{#1}}
+\noverticalspacing
+
 \setupCheatSheet{Autonomous Mobile Robots}
 
 \begin{document}
 \startDocument
 
 
-
+\section{Locomotion \& Kinematics}
+\input{parts/01_kinematics/00_intro.tex}
 
 
 \end{document}
diff --git a/electives/others/amr/parts/00_basics/00_probability.tex b/electives/others/amr/parts/00_basics/00_probability.tex
new file mode 100644
index 0000000..0ab609a
--- /dev/null
+++ b/electives/others/amr/parts/00_basics/00_probability.tex
@@ -0,0 +1 @@
+\subsection{Probability}
diff --git a/electives/others/amr/parts/01_kinematics/00_intro.tex b/electives/others/amr/parts/01_kinematics/00_intro.tex
new file mode 100644
index 0000000..6c73910
--- /dev/null
+++ b/electives/others/amr/parts/01_kinematics/00_intro.tex
@@ -0,0 +1,6 @@
+\subsection{Positioning}
+\shortdefinition[Position Vector]
+$_{\color{blue}\fbox{W}}\,\vec{t}\,_{\color{red}\fbox{B}} = \, _{\color{blue}\fbox{W}}\,\vec{t}\,_{\color{ForestGreen}\fbox{W}}\,_{\color{red}\fbox{B}}$,
+{\color{blue} Original Frame}, {\color{red} End point}, {\color{ForestGreen} Target Frame}
+
+\shortdefinition[State vector] $x_R$: $x$, $v$ of rob in $W$, pos of sensors
diff --git a/electives/others/amr/parts/01_positioning/00_intro.tex b/electives/others/amr/parts/01_positioning/00_intro.tex
deleted file mode 100644
index e69de29..0000000