1. A robot comprising: a gyroscope module providing information regarding a rotational angle of a gyroscope; an encoder module providing information regarding velocity and information regarding rotational angle of a wheel of the robot by sensing motion of the wheel; and a control module estimating a current pose of the robot according to a method based on information provided by the encoder module and the gyroscope module, the control module incorporating the information regarding the rotational angle provided by the gyroscope module when estimating the current pose.