Update README.md

README.md

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-This is the README for the EU_Robot of Group D.
+# Robot SLAM Simulation with Sensor Crosstalk Management
+
+This project simulates a robot equipped with **Ultrasound** and **IR** sensors navigating a 2D environment, performing **SLAM** (Simultaneous Localization and Mapping), managing **dynamic crosstalk**, and building an **occupancy grid map** in real-time, with optional **GUI visualization**.
+
+## 📦 Installation (Linux)
+
+### 1. Set up a Python virtual environment
+
+```bash
+python3 -m venv slam_env
+source slam_env/bin/activate
+```
+
+### 2. Install required Python libraries
+
+```bash
+pip install numpy matplotlib PyQt5 scikit-learn pytmx
+```
+
+### 3. Install GTSAM manually from GitHub
+
+Follow the official GTSAM installation guide:  
+https://github.com/borglab/gtsam
+
+Summary of typical steps:
+
+```bash
+sudo apt-get install cmake libboost-all-dev libtbb-dev libeigen3-dev
+git clone https://github.com/borglab/gtsam.git
+cd gtsam
+mkdir build && cd build
+cmake ..
+make -j$(nproc)
+sudo make install
+```
+
+Then, install Python bindings:
+
+```bash
+cd ../python
+mkdir build && cd build
+cmake ..
+make -j$(nproc)
+sudo make install
+```
+
+If needed, update your PYTHONPATH:
+
+```bash
+export PYTHONPATH=/usr/local/lib/python3.x/dist-packages:$PYTHONPATH
+```
+
+Replace `python3.x` with your installed version.
+
+
+## 🚀 Usage
+
+### Run the simulation in GUI mode
+
+```bash
+python your_script.py
+```
+
+or explicitly:
+
+```bash
+python your_script.py --gui
+```
+
+### Run the simulation in headless (non-GUI) mode
+
+```bash
+python your_script.py --no-gui
+```
+
+### Load a custom environment from a Tiled map
+
+```bash
+python your_script.py --tiled_map your_map.tmx
+```
+
+### Controls (in GUI mode)
+
+| Key         | Action               |
+|-------------|-----------------------|
+| `Z`         | Move forward           |
+| `S`         | Move backward          |
+| `Q`         | Turn left              |
+| `D`         | Turn right             |
+| `X`         | Stop movement          |
+| `SPACE`     | Pause / Resume         |
+| `ESC`       | Save sensor layout     |
+
+When closing the GUI, the following files are automatically saved:
+- `map.pkl` → Occupancy grid as a pickle file
+- `map.png` → Occupancy grid image
+
+## 🔧 Project Structure
+
+| File/Folder   | Description                                |
+|:--------------|:-------------------------------------------|
+| Sensor, MotionModel, SLAMEngine, etc. | Core simulation classes |
+| SensorLayoutEditor | GUI editor for live sensor placement |
+| Visualizer | 2D occupancy grid visualization |
+| Environment | Wall and obstacle management (including Tiled map support) |
+| OccupancyGrid, CoverageAnalyzer | Mapping and blind spot detection |
+| main() | Entry point for launching GUI or headless simulation |