Lumi starts with a mobile base that can be tested, measured, and improved safely. The current work centers on the chassis, onboard compute, sensors, low-level controls, and the safety systems needed before more autonomy is layered on top.
Wheel encoders and IMU integration are part of that foundation. They help turn motion into measurable state, which is essential for repeatable indoor navigation experiments.
The goal is not to rush toward a polished demo. It is to make each underlying capability dependable enough to support the next one.