diff --git a/examples/log2pgm.py b/examples/log2pgm.py
index 1128494..6638327 100755
--- a/examples/log2pgm.py
+++ b/examples/log2pgm.py
@@ -11,7 +11,7 @@ For details see
       author    = {Bruno Steux and Oussama El Hamzaoui},
       title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
       booktitle = {11th International Conference on Control, Automation, 
-                   Robotics and Vision, ICARCV 2010, Singapore, 7-10 
+                   Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 
                    December 2010, Proceedings},
       pages     = {1975-1979},
       publisher = {IEEE},
@@ -44,8 +44,6 @@ MAP_SIZE_PIXELS          = 800
 MAP_SIZE_METERS          =  32
 
 from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
-from breezyslam.components import Laser
-from breezyslam.robots import WheeledRobot
 
 from mines import MinesLaser, Rover, load_data
 from progressbar import ProgressBar
diff --git a/examples/log2png.py b/examples/log2png.py
index 580b9e1..c9f0058 100755
--- a/examples/log2png.py
+++ b/examples/log2png.py
@@ -11,7 +11,7 @@ For details see
       author    = {Bruno Steux and Oussama El Hamzaoui},
       title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
       booktitle = {11th International Conference on Control, Automation, 
-                   Robotics and Vision, ICARCV 2010, Singapore, 7-10 
+                   Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 
                    December 2010, Proceedings},
       pages     = {1975-1979},
       publisher = {IEEE},
@@ -44,8 +44,6 @@ MAP_SIZE_PIXELS          = 800
 MAP_SIZE_METERS          =  32
 
 from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM
-from breezyslam.components import Laser
-from breezyslam.robots import WheeledRobot
 
 from mines import MinesLaser, Rover, load_data
 from progressbar import ProgressBar
diff --git a/examples/mines.py b/examples/mines.py
index a17f5da..69bc59d 100644
--- a/examples/mines.py
+++ b/examples/mines.py
@@ -7,7 +7,7 @@ For details see
       author    = {Bruno Steux and Oussama El Hamzaoui},
       title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
       booktitle = {11th International Conference on Control, Automation, 
-                   Robotics and Vision, ICARCV 2010, Singapore, 7-10 
+                   Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 
                    December 2010, Proceedings},
       pages     = {1975-1979},
       publisher = {IEEE},
@@ -30,8 +30,8 @@ You should have received a copy of the GNU Lesser General Public License
 along with this code.  If not, see <http://www.gnu.org/licenses/>.
 '''
 
-from breezyslam.robots import WheeledRobot
-from breezyslam.components import URG04LX
+from breezyslam.vehicles import WheeledVehicle
+from breezyslam.sensors import URG04LX
 
 import math
 
@@ -87,21 +87,21 @@ class MinesLaser(URG04LX):
         
 # Class for MinesRover custom robot ------------------------------------------
 
-class Rover(WheeledRobot):
+class Rover(WheeledVehicle):
     
     def __init__(self):
         
-        WheeledRobot.__init__(self, 77, 165)
+        WheeledVehicle.__init__(self, 77, 165)
         
         self.ticks_per_cycle = 2000
                         
     def __str__(self):
         
-        return '<%s ticks_per_cycle=%d>' % (WheeledRobot.__str__(self), self.ticks_per_cycle)
+        return '<%s ticks_per_cycle=%d>' % (WheeledVehicle.__str__(self), self.ticks_per_cycle)
         
     def computeVelocities(self, odometry):
         
-        return WheeledRobot.computeVelocities(self, odometry[0], odometry[1], odometry[2])
+        return WheeledVehicle.computeVelocities(self, odometry[0], odometry[1], odometry[2])
 
     def extractOdometry(self, timestamp, leftWheel, rightWheel):
                 
diff --git a/examples/urgslam.py b/examples/urgslam.py
index 7df47e3..892e2c0 100755
--- a/examples/urgslam.py
+++ b/examples/urgslam.py
@@ -24,7 +24,7 @@ MAP_SIZE_METERS         = 10
 LIDAR_DEVICE            = '/dev/ttyACM0'
 
 from breezyslam.algorithms import RMHC_SLAM
-from breezyslam.components import URG04LX as LaserModel
+from breezyslam.sensors import URG04LX as LaserModel
 
 from breezylidar import URG04LX as Lidar
 
diff --git a/python/breezyslam/components.py b/python/breezyslam/sensors.py
similarity index 91%
rename from python/breezyslam/components.py
rename to python/breezyslam/sensors.py
index 3ec9a54..4d7038f 100644
--- a/python/breezyslam/components.py
+++ b/python/breezyslam/sensors.py
@@ -1,8 +1,7 @@
 '''
 BreezySLAM: Simple, efficient SLAM in Python
 
-components.py: SLAM components (Laser, Map, Position, Scan, Map),
-implemented as C extensions for efficiency. 
+sensors.py: SLAM sensors (currently just Laser)
 
 Copyright (C) 2014 Simon D. Levy
 
@@ -20,9 +19,6 @@ You should have received a copy of the GNU Lesser General Public License
 along with this code.  If not, see <http:#www.gnu.org/licenses/>.
 '''
 
-# These classes are implemented as C extensions
-from pybreezyslam import Scan, Map, Position
-
 class Laser(object):
     '''
     A class representing the specifications of a scanning laser rangefinder (Lidar).
diff --git a/python/breezyslam/robots.py b/python/breezyslam/vehicles.py
similarity index 96%
rename from python/breezyslam/robots.py
rename to python/breezyslam/vehicles.py
index c7e2942..878c80e 100644
--- a/python/breezyslam/robots.py
+++ b/python/breezyslam/vehicles.py
@@ -1,7 +1,8 @@
 '''
 BreezySLAM: Simple, efficient SLAM in Python
 
-robots.py: odometry models for different kinds of robots
+vehicles.py: odometry models for different kinds of vehicles
+(currently just wheeled vehicles)
 
 Copyright (C) 2014 Suraj Bajracharya and Simon D. Levy
 
@@ -21,7 +22,7 @@ along with this code.  If not, see <http:#www.gnu.org/licenses/>.
 
 import math
 
-class WheeledRobot(object):
+class WheeledVehicle(object):
     '''
     An abstract class supporting ododmetry for wheeled robots.  Your implementing
     class should provide the method: