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 based on information provided by the encoder module and the gyroscope module by applying a Kalman filter with physical constraints, the control module incorporating the information regarding the rotational angle provided by the gyroscope module when estimating the current pose, wherein the control module is adapted to localize the robot by using the estimated pose of the robot and a pose error of the robot estimated by the gyroscope module as state variables.