 At every time formula_5 the algorithm takes as input the previous belief formula_11, an actuation command formula_12, and data received from sensors formula_13; and the algorithm outputs the new belief formula_8.Consider a robot in a one-dimensional circular corridor with three identical doors, using a sensor that returns either true or false depending on whether there is a door.At the end of the three iterations, most of the particles are converged on the actual position of the robot as desired.