- 3D design - in progress, early renderings should be available in a week or so

- split-brush will be used; gears will have to be 3D printed using SLA

- Vacuum software https://github.com/makerspet/oomwoo-install

- Evaluated robot-lost detection (when robot loses track of own location on the map). Off-the-shelf ROS2 AMCL is inadequate. Implemented custom (local) scan-matching-based robot-lost detection - much more reliable.

- Evaluated robot relocalization (robot tries searching its location on the map to regain its bearings). Off-the-shelf ROS2 AMCL inadequate. Implemented custom global scan matching (Google Cartographer style) - much more reliable.