Worked on the OpenmindAGI/OM1 repository to deliver foundational navigation and perception enhancements for multi-robot deployments. Developed new odometry and RPLidar providers tailored for Unitree Go2 and TurtleBot4, migrating from generic implementations to platform-specific plugins with updated configuration management. Integrated CycloneDDS-based data streaming and body-state derivation in the UnitreeG1OdomProvider, while introducing battery monitoring plugins for both TurtleBot4 and UnitreeGo2. Emphasized maintainability by expanding unit test coverage, refactoring provider and plugin architecture, and cleaning up legacy test artifacts. Utilized Python and asynchronous programming techniques to ensure robust, hardware-enabled robotics solutions with a focus on scalable, testable codebases.