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 1. [Introduction](#introduction)
 2. [Implementation Details](#implementation-details)
+   1. [Map](#map)
   1. [Model Predictive Controller (MPC)](#model-predictive-controller)
 3. [How-To](#how-to)
 4. [Limitations and Outlook](#limitations-and-outlook)
@ -21,6 +22,16 @@ The rest of this readme is structured as follows. In [Section 2](##Components) w

 ## Implementation Details

+<p align="center"> 
+<img src="/Images/detections.png">
+</p>
+
+### Map 
+
+### Reference Path
+
+### Spatial Bicycle Model
+
 ### Model Predictive Controller

 ## How-To