o Developed an autonomous two wheeled differential drive robot to be able to perform SLAM using a LIDAR sensor and to be able to successfully navigate the map it creates, avoiding any obstacles encountered.o Set up an EKF for odometry and IMU sensor fusion to improve the accuracy of localisation and pose estimation which previously only used a simple bicycle model to localise the robot, which in turn improved the navigation accuracy.o Simulated the robot in Rviz and Gazebo to test functionality of the SLAM and navigation algorithms in different virtual maps.o ROS, C++, Python