diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index fcd3836..38a0150 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -5,18 +5,13 @@ version: '3'
 
 # Define services
 services:
-    # Python Development Container
-    python-dev:
-        # Use Dockerfile in current folder
-        build: .
+    # Particle filter Container
+    particle-filter:
+        # Use Dockerfile in particle-filter folder
+        build: ./particle-filter
         # Mount folders on host to app folder in container
         volumes:
-            - ../src/control:/app/control
             - ../src/dataset:/app/dataset
-            - ../src/localization:/app/localization
-            - ../src/planning:/app/planning
-            - ../src/semantic:/app/semantic
-            - ../src/visualization:/app/visualization
             - ../src/polex:/app/polex
         # Set DISPLAY variable and network mode for GUIs
         environment:
@@ -24,3 +19,62 @@ services:
         network_mode: "host"
         # Set working directory in container to app folder
         working_dir: /app
+    
+    # Planning Container
+    planning:
+        # Use Dockerfile in planning folder
+        build: ./planning
+        # Mount folders on host to app folder in container
+        volumes:
+            - ../src/dataset:/app/dataset
+            - ../src/planning:/app/planning
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+    
+    # Semantic Container
+    semantic:
+        # Use Dockerfile in semantic folder
+        build: ./semantic
+        # Mount folders on host to app folder in container
+        volumes:
+            - ../src/semantic:/app/semantic
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+    
+    # Visualization Container
+    visualization:
+        # Use Dockerfile in visualization folder
+        build: ./visualization
+        # Mount folders on host to app folder in container
+        volumes:
+            - ../src/dataset:/app/dataset
+            - ../src/visualization:/app/visualization
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+
+    # Velocity Control Container
+    velocity-control:
+        # Use Dockerfile in velocity-control folder
+        build: ./velocity-control
+        # Mount folders on host to app folder in container
+        volumes:
+            - ../src/control:/app/control
+            - ../src/dataset:/app/dataset
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/particle-filter/Dockerfile
similarity index 100%
rename from docker/Dockerfile
rename to docker/particle-filter/Dockerfile
diff --git a/docker/planning/Dockerfile b/docker/planning/Dockerfile
new file mode 100644
index 0000000..b09d219
--- /dev/null
+++ b/docker/planning/Dockerfile
@@ -0,0 +1,15 @@
+FROM python:3.6.9
+
+RUN apt-get update && \
+    apt-get install -y \
+        build-essential \
+        python3-dev \
+        python3-pip
+
+RUN pip3 install --upgrade pip && \
+    pip3 install \
+        numpy \
+        matplotlib \
+        scipy
+
+CMD ["/bin/bash"]
diff --git a/src/semantic/Dockerfile b/docker/semantic/Dockerfile
similarity index 96%
rename from src/semantic/Dockerfile
rename to docker/semantic/Dockerfile
index f129342..f35ef56 100644
--- a/src/semantic/Dockerfile
+++ b/docker/semantic/Dockerfile
@@ -23,6 +23,5 @@ RUN pip install -U pip && \
         keras
 
 RUN python -m spacy download en_core_web_sm
-        pickle-mixin
 
 CMD ["/bin/bash"]
diff --git a/docker/velocity-control/Dockerfile b/docker/velocity-control/Dockerfile
new file mode 100644
index 0000000..1c19808
--- /dev/null
+++ b/docker/velocity-control/Dockerfile
@@ -0,0 +1,16 @@
+FROM python:3.6.9
+
+RUN apt-get update && \
+    apt-get install -y \
+        build-essential \
+        python3-dev \
+        python3-pip
+
+RUN pip3 install --upgrade pip && \
+    pip3 install \
+        numpy \
+        matplotlib \
+        scipy \
+        cvxpy
+
+CMD ["/bin/bash"]
diff --git a/docker/visualization/Dockerfile b/docker/visualization/Dockerfile
new file mode 100644
index 0000000..bcddfbb
--- /dev/null
+++ b/docker/visualization/Dockerfile
@@ -0,0 +1,18 @@
+FROM python:3
+
+RUN apt-get update && \
+    apt-get install -y \
+        build-essential \
+        python-opencv \
+        libpcl-dev
+
+RUN pip install -U pip && \
+    pip install -U \
+        cython \
+        numpy \
+        scipy \
+        matplotlib \
+        nltk \
+        setuptools
+
+CMD ["/bin/bash"]
\ No newline at end of file
diff --git a/src/control/mpc_along_trajectory.py b/src/control/mpc_along_trajectory.py
index 887f27e..2c306f2 100644
--- a/src/control/mpc_along_trajectory.py
+++ b/src/control/mpc_along_trajectory.py
@@ -1,7 +1,7 @@
 from mpc_func import *
 from Astar import *
 
-poses = load_poses('pose_gt.csv')
+poses = load_poses('/app/dataset/data/pose_gt.csv')
 sparseness = 100
 # print(poses.shape[0]/sparseness)
 # plot_position(poses[1::sparseness])
diff --git a/src/control/one_round_demo.py b/src/control/one_round_demo.py
index acea9ac..7ecc2bc 100644
--- a/src/control/one_round_demo.py
+++ b/src/control/one_round_demo.py
@@ -1,6 +1,6 @@
 from mpc_func import *
 
-poses = load_poses('pose_gt.csv')
+poses = load_poses('/app/dataset/data/pose_gt.csv')
 sparseness = 100
 sparse_poses = poses[1::sparseness, 1:3]
 
diff --git a/src/localization/localization.py b/src/localization/localization.py
deleted file mode 100644
index 6f19cb4..0000000
--- a/src/localization/localization.py
+++ /dev/null
@@ -1,16 +0,0 @@
-# localization.py
-
-import numpy as np
-import matplotlib.pyplot as plt
-import csv
-import os
-from PoseList import PoseList
-from scipy.spatial import distance
-
-
-def main():
-    pass
-
-
-if __name__ == '__main__':
-    main()
diff --git a/src/localization/read_vel_hits.py b/src/localization/read_vel_hits.py
index de1e6e1..f93a22b 100644
--- a/src/localization/read_vel_hits.py
+++ b/src/localization/read_vel_hits.py
@@ -35,7 +35,7 @@ def verify_magic(s):
 def main(args):
 
     if len(sys.argv) < 2:
-        print "Please specifiy input bin file"
+        print("Please specify input bin file")
         return 1
 
     f_bin = open(sys.argv[1], "r")
@@ -51,14 +51,14 @@ def main(args):
             break
 
         if not verify_magic(magic):
-            print "Could not verify magic"
+            print("Could not verify magic")
 
         num_hits = struct.unpack('<I', f_bin.read(4))[0]
         utime = struct.unpack('<Q', f_bin.read(8))[0]
 
         padding = f_bin.read(4) # padding
 
-        print "Have %d hits for utime %ld" % (num_hits, utime)
+        print("Have %d hits for utime %ld" % (num_hits, utime))
 
         total_hits += num_hits
         if first_utime == -1:
@@ -82,7 +82,7 @@ def main(args):
 
     f_bin.close()
 
-    print "Read %d total hits from %ld to %ld" % (total_hits, first_utime, last_utime)
+    print("Read %d total hits from %ld to %ld" % (total_hits, first_utime, last_utime))
 
     return 0
 
diff --git a/src/planning/Motion_Planning_Functions.ipynb b/src/planning/Motion_Planning_Functions.ipynb
index 241a274..12ad143 100644
--- a/src/planning/Motion_Planning_Functions.ipynb
+++ b/src/planning/Motion_Planning_Functions.ipynb
@@ -1,18 +1,4 @@
 {
-  "nbformat": 4,
-  "nbformat_minor": 0,
-  "metadata": {
-    "colab": {
-      "name": "Motion_Planning_Functions",
-      "provenance": [],
-      "collapsed_sections": []
-    },
-    "kernelspec": {
-      "name": "python3",
-      "display_name": "Python 3"
-    },
-    "accelerator": "GPU"
-  },
   "cells": [
     {
       "cell_type": "code",
@@ -60,7 +46,7 @@
         "    pose_gt = np.loadtxt(pose_gt_file, delimiter = \",\")\n",
         "    return pose_gt[1:, 1:3]\n",
         "\n",
-        "poses = load_poses('../dataset/ground_truth/groundtruth_2012-01-08.csv')"
+        "poses = load_poses('../dataset/data/ground_truth/groundtruth_2012-01-08.csv')"
       ],
       "execution_count": 0,
       "outputs": []
@@ -607,5 +593,19 @@
         }
       ]
     }
-  ]
+  ],
+  "metadata": {
+    "colab": {
+      "name": "Motion_Planning_Functions",
+      "provenance": [],
+      "collapsed_sections": []
+    },
+    "kernelspec": {
+      "name": "python3",
+      "display_name": "Python 3"
+    },
+    "accelerator": "GPU"
+  },
+  "nbformat": 4,
+  "nbformat_minor": 0
 }
\ No newline at end of file
diff --git a/src/planning/astar_driver.py b/src/planning/astar_driver.py
index c7f1553..d4459fc 100644
--- a/src/planning/astar_driver.py
+++ b/src/planning/astar_driver.py
@@ -23,8 +23,7 @@ def load_poses(pose_gt_file) :
 
 
 def main() :
-  #poses = load_poses('../dataset/ground_truth/groundtruth_2012-01-08.csv')
-  poses = load_poses('../dataset/ground_truth/debug.csv')
+  poses = load_poses('../dataset/data/ground_truth/debug.csv')
   sparseness = 10
   k=50
 
diff --git a/src/semantic/docker-compose.yml b/src/semantic/docker-compose.yml
deleted file mode 100644
index fcd3836..0000000
--- a/src/semantic/docker-compose.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-# Docker Compose
-
-# docker-compose.yml format version
-version: '3'
-
-# Define services
-services:
-    # Python Development Container
-    python-dev:
-        # Use Dockerfile in current folder
-        build: .
-        # Mount folders on host to app folder in container
-        volumes:
-            - ../src/control:/app/control
-            - ../src/dataset:/app/dataset
-            - ../src/localization:/app/localization
-            - ../src/planning:/app/planning
-            - ../src/semantic:/app/semantic
-            - ../src/visualization:/app/visualization
-            - ../src/polex:/app/polex
-        # Set DISPLAY variable and network mode for GUIs
-        environment:
-            - DISPLAY=${IP_ADDRESS}:0.0
-        network_mode: "host"
-        # Set working directory in container to app folder
-        working_dir: /app
diff --git a/src/semantic/docker-compose_ubuntu b/src/semantic/docker-compose_ubuntu
deleted file mode 100644
index d23a477..0000000
--- a/src/semantic/docker-compose_ubuntu
+++ /dev/null
@@ -1,27 +0,0 @@
-# Docker Compose
-
-# docker-compose.yml format version
-version: '3'
-
-# Define services
-services:
-    # Python Development Container
-    python-dev:
-        # Use Dockerfile in current folder
-        build: .
-        # Mount ros-dev folder on host to app folder in container
-        volumes:
-            - ./control:/app/control
-            - ./dataset:/app/dataset
-            - ./localization:/app/localization
-            - ./planning:/app/planning
-            - ./semantic:/app/semantic
-            - ./visualization:/app/visualization
-            - /tmp/.X11-unix/:/tmp/.X11-unix
-        # Set DISPLAY variable and network mode for GUIs
-        environment:
-            - DISPLAY=$DISPLAY
-            #- DISPLAY=${IP_ADDRESS}:0.0
-        network_mode: "host"
-        # Set working directory in container to app folder
-        working_dir: /app