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Our project leverages ROS to organize the various sensor arrays including LIDAR and Optical sensors to provide a hot-swappable self-driving vehicle platform. It’s intended for rapid development of autonomous systems and would ideally support modular components such that different combinations of capabilities are included for arbitrary environments. It also tests different pathing algorithms like Timed Elastic Band path planning and Adaptive Monte Carlo Localization for matching the platform’s initial pose against a saved map generated by a Simultaneous Location and Mapping (SLAM) procedure. The goal is to operate safely in arbitrary environments, and should work exceptionally well in known environments.