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+# 📦 Bellande Motion Probability
+
+## 🧙 Organization Website
+- [![Organization Website](https://img.shields.io/badge/Explore%20Our-Website-0099cc?style=for-the-badge)](https://robotics-sensors.github.io)
+
+## 🧙 Organization Github
+- [![Organization Github ](https://img.shields.io/badge/Explore%20Our-Github-0099cc?style=for-the-badge)](https://github.com/Robotics-Sensors)
+
+# Author, Creator and Maintainer
+- **Ronaldson Bellande**
+
+# API HTTP Usability (BELLANDE FORMAT)
+```
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+# GNU General Public License v3.0 or later
+
+url: https://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+    bellande_motion_probability: /api/Bellande_Motion_Probability/bellande_motion_probability
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
+```
+
+# API HTTP Usability (JSON FORMAT)
+```
+{
+  "license": [
+    "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+    "This program is free software: you can redistribute it and/or modify",
+    "it under the terms of the GNU General Public License as published by",
+    "the Free Software Foundation, either version 3 of the License, or",
+    "(at your option) any later version.",
+    "",
+    "This program is distributed in the hope that it will be useful,",
+    "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the",
+    "GNU General Public License for more details.",
+    "",
+    "You should have received a copy of the GNU General Public License",
+    "along with this program.  If not, see <https://www.gnu.org/licenses/>.",
+    "GNU General Public License v3.0 or later"
+  ],
+  "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+  "endpoint_path": {
+    "bellande_motion_probability": "/api/Bellande_Motion_Probability/bellande_motion_probability"
+  },
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}
+```
+
+# API Payload Example
+```
+{
+    "particle_state": [0, 0, 0, 1.0],
+    "previous_pose": [0, 0, 0],
+    "current_pose": [100, 100, 90],
+    "noise_params": {
+      "trans_sigma": 0.1,
+      "rot_sigma": 0.1,
+      "head_sigma": 0.1
+    },
+    "search_radius": 50,
+    "sample_points": 20,
+    "auth": {
+      "authorization_key": "bellande_web_api_opensource"
+    }
+```
+
+# 🧙 Website Bellande API Testing 
+- [![Website API Testing](https://img.shields.io/badge/Bellande%20API-Testing-0099cc?style=for-the-badge)](https://bellande-robotics-sensors-research-innovation-center.org/api/bellande_motion_probability_experiment)
+  
+# Quick Bellande API Testing
+```
+curl -X 'POST' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability' \
+  -H 'accept: application/json' \
+  -H 'Content-Type: application/json' \
+  -d '{
+    "particle_state": [0, 0, 0, 1.0],
+    "previous_pose": [0, 0, 0],
+    "current_pose": [100, 100, 90],
+    "noise_params": {
+      "trans_sigma": 0.1,
+      "rot_sigma": 0.1,
+      "head_sigma": 0.1
+    },
+    "search_radius": 50,
+    "sample_points": 20,
+    "auth": {
+      "authorization_key": "bellande_web_api_opensource"
+    }
+  }'
+```
+
+# Bellande Motion_Probability Usage
+
+## Website Crates
+- https://crates.io/crates/bellande_motion_probability
+
+### Installation
+- `cargo add bellande_motion_probability`
+
+## Website PYPI
+- https://pypi.org/project/bellande_motion_probability
+
+### Installation
+- `$ pip install bellande_motion_probability`
+
+### Usage 
+```
+bellande_motion_probability \
+  --particle-state "[1.0, 2.0, 0.5, 1.0]" \
+  --previous-pose "[0.0, 0.0, 0.0]" \
+  --current-pose "[1.0, 1.0, 0.5]" \
+  --noise-params '{"trans_sigma": 0.1, "rot_sigma": 0.1, "head_sigma": 0.1}'
+```
+
+### Upgrade (if not upgraded)
+- `$ pip install --upgrade bellande_motion_probability`
+
+```
+Name: bellande_motion_probability
+Summary: The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced robot motion estimation
+Home-page: github.com/Robotics-Sensors/bellande_motion_probability
+Author: Ronaldson Bellande
+Author-email: ronaldsonbellande@gmail.com
+License: GNU General Public License v3.0
+```
+
+
+## License
+This Algorithm or Models is distributed under the [Creative Commons Attribution-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-sa/4.0/), see [LICENSE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) and [NOTICE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) for more information.