I am currently finishing up some debugging, and will be posting the final system after I am finished. Currently, I have developed a few algorithms that I will be testing and gathering metrics on with the testbed over the next month. While the nuances of the algorithms probably arent hackaday worthy, I plan to outline the communications structure and core functions that are common throughout all of them. While the hardware is the exact same as my original Pololu post (with some upgraded wiring), this core software is the key to the autonomous UGV testbed I developed. Much of my time has been spent hitting deadends and chasing bugs, so hopefully I can find some time to recount these obstacles in this project page eventually.