  This paper describes an autonomous shuttle which targets providing last-mile
transportation. Often, this involves operation in crowded areas with high
levels of pedestrian traffic, and little to no lane markings or traffic
control. We aim to create a functional shuttle to be improved upon in the
future as new robust solutions are developed to replace the current components.
An initial implementation of such a shuttle presented, detailing the overall
architecture, controller structure, waypoint following, obstacle detection and
avoidance, LiDAR based sign detection, and pedestrian communication. The
performance of each component is evaluated, and future improvements are
discussed.
