• Modified robot’s behavior to pick/place totes from shelf and cart using a lifting gripper instead of using a mechanical pull-in/push-out gripper to pick/place only from shelf.

• Added time of flight camera to the robot for obstacle detection and avoidance.

• Built contamination strategy for Lidar data to filter valid obstacle distance readings from phantom obstacle distance readings generated by dust on lidar's lens.

• Added code changes to accommodate Lidar tilt, made Lidar tilt configurable from robot's webpage and fixed Lidar's calibration procedure.

• Added a dynamic human comfort margin for obstacle detection and fixed bugs in skirting obstacles.

• Identified limitations of localization algorithm and implemented solution for the limitation.

• Installed systems at customer and collaborator sites and trained employees to run the system.

• Added functionality to make site specific changes for customer sites configurable through robot’s webpage instead of having to change the code.

• Built and deployed demos for trade shows.

• Added functionality to demo programs to recover from errors without having to reset the entire demo.

• Added regions to slow down the robot and beep 3 times before turning.

• Designed mud guard and a light mount in Solidworks.

• Made software changes in Estop module to stop the robot, instead of letting it roll, when the Estop flag is pulled.

• Fixed bug to show warnings and errors on the LCD screen that were not being displayed originally.

• Fixed bugs in software used to build maps.

• Fixed memory leaks using objgraph.