In terms of my contributions to this project, I first began workin on making environments for the turtlebot4, a much smaller robot than the MIR Robot we used later. As such, I have split them into two separate Design Processes that you can find within the pages of this section. Early Design includes details about beta designs of a world built with Gazebo Ignition. The one's used in our final Product that used Gazebo Classic are located in Advanced Design. I also added code highlights of the code I felt I was the most involved in since as a group, we frequently completed code by taking turns working on our two Lab Desktops, with the third member present and watching as well as working on other aspects of the project such as the report.