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@@ -321,22 +321,18 @@ <h3>Schedule</h3>
               <td class="tg-2g2i">9</td>
               <td class="tg-vnl4">
               Parametric filtering (KF and EKF)
-              <br>Object tracking and EKF localization
+              <br>Markov localization and EKF-localization
               <!-- <br><span style="font-style:italic">Friday: HW4 (part 2) due</span> -->
               </td>
               <td class="tg-vnl4">
                 <!-- Week 9 Lecture Slides -->
                 <a href="pdfs/lecture/lecture_15.pdf">Lecture 15</a>
-                <!-- TODO:
-                <br/><a href="pdfs/lecture/lecture_17.pdf">Lecture 17</a>
-                -->
+                <br/><a href="pdfs/lecture/lecture_16.pdf">Lecture 16</a>
               </td>
               <td class="tg-vnl4">
                 <!-- Week 9 Notebook -->
                 <a href="https://drive.google.com/file/d/1TxPEaseopY0XaVXJ7PO70yT1Mh3Pd-x5/view?usp=sharing">Notebook 15</a>
-                <!-- TODO:
-                <a href="pdfs/notes/lecture16and17.pdf">Lectures 16/17 Notes</a>
-                -->
+                <br/><a href="https://colab.research.google.com/drive/15WQJ8WDY75BxgQ_GebZCXQIaoIHWQxJN?usp=sharing">Notebook 16</a>
               </td>
               <td class="tg-vnl4">
                 <!-- Week 9 Sections -->
diff --git a/aa174a_aut2324/pdfs/lecture/lecture_16.pdf b/aa174a_aut2324/pdfs/lecture/lecture_16.pdf
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index 0000000..8addc71
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