diff --git a/mr/ub9/loc_framework/pf_prediction.m b/mr/ub9/loc_framework/pf_prediction.m
index 18d0e05..9049785 100644
--- a/mr/ub9/loc_framework/pf_prediction.m
+++ b/mr/ub9/loc_framework/pf_prediction.m
@@ -15,7 +15,26 @@
 % The pose (3x1 vector) of particle m at timestep i can be accessed using:
 %    pf_x(:,i,m);
 
-xnew = x+motion(x,u)+;
+%xl=x(:,1,1)
+%r=mvnrnd(zeros(size(R,1)),R)
+%r2= r(:,1)
+%x(:,1,1)= xl+motion(xl,u)+r2
+
+%todo neue matrix mit einem zeitschritt mehr
+
+x = horzcat(x, zeros(size(x,1),1,size(x,3)));
+%size(x,2)    
+ j =size(x,2)-1
+   for k=1: size(x,3)
+       xl=x(:,j,k);
+       r=mvnrnd(zeros(size(R,1)),R);
+       r2= r(:,1);
+       x(:,j+1,k)= xl+motion(xl,u)+r2;
+   end
+
+
+
+xnew=x;
 
 % YOUR CODE ENDS HERE: