Worked on the fs-feup/autonomous-systems repository to deliver endurance tracking enhancements and the initial version of Adaptive Data Association for the Autonomous Driving System. Focused on improving simulation stability and marker handling, which supported more reliable testing and streamlined maintenance. Addressed SonarCloud issues and removed unnecessary print statements to improve production readiness and code quality. Used C++, Python, and ROS to implement these features, demonstrating a strong grasp of autonomous systems and robotics. The work resulted in more robust perception and tracking, reduced log noise, and enabled faster iteration, contributing to a more maintainable and efficient development environment for the project.