Our robot was built on top of the Erratic robot platform that includes

• an aluminum alloy base
• two motors with wheel encoders
• three 12V-7Ah SLA batteries
• a ring of eight MaxSonar EZ1 sonar sensors (not used)
• a pair of Sharp GP2D15 IR floor sensors (not used)

We further equipped our robot with the following sensors/actuators:

• A Hokuyo URG Laser sensor
• A tilt unit for the Laser sensor
• Two Dragonfly cameras from PointGrey research
• Two Dragonfly2 cameras from PointGrey research

Finally, the robot was equipped with

• a Mini PC (1.6GHz Celeron M CPU) responsible for the navigation and exploration part
• a laptop responsible for the Object recognition part.