Our bicycle can autonomously balance! This semester (Spring 2018), we developed and tested new balance controllers, both linear and nonlinear, in simulation and on our prototype bicycle. We took the first steps to implement a computer vision system: we conducted preliminary tests of obstacle detection and localization algorithms using a stereo camera. We integrated more sensors into our position estimation algorithm. This improved the bicycle's ability to know its location. Next semester, we hope to implement our navigation algorithm on our physical bicycle to make our bicycle fully autonomous.