Worked on the Octobots9084/Placeholder-2025 repository to address challenges in autonomous reef navigation for robotics applications. Focused on resolving a reef alignment distance bug by refactoring the motion logic, specifically improving the y-speed calculation to enhance stability and positioning accuracy. Enhanced observability by adding detailed logging for key computer vision metrics, which streamlined debugging and performance monitoring across different hardware setups. Utilized Java and applied expertise in computer vision, PID control, and robotics to reduce misalignment events and improve the robot’s ability to align with reef targets, resulting in smoother and more reliable autonomous missions during the development period.