. . . Nowadays, the selection of the SW development process is the first decision that should be taken before any SW project implementation. waterfall and V-model have been used for many decades, and have shown many improvements in the SW development process. These two methods have also some drawbacks regarding their inflexibility to the changing requirements and their long test cycle time. In addition, the lack of safety analysis techniques has result in an unsafe SW production. The purpose of this Master thesis is to investigate the effects of applying the agile development process (solo scrum) integrated with the results of safety analysis on the ODA robot (embedded system) development process. The ODA algorithm has been developed based on the agile development process (scrum) practices like TDD, scrum board, and other practices. For safety consideration, the ODA algorithm has been continuously changed according to the safety requirements. Moreover, a GUI has been implemented so that robot be remotely controlled via Bluetooth and which provides a continuous feedback from the robot.