We have built a maze-navigating robot to simulate a rescue.  The objective for our robot is rescuing all victims by dispensing a rescue kit.  Our robot navigates every tile of a maze consisting of 30 cm by 30 cm tiles to maximize the heated victims it detects.  The robot must overcome various obstacles including 1 cm debris, 1-2 cm speed bumps (fixed debris which can appear on walls), and large obstacles (maximum 20 cm by 20 cm).  Once the robot is done with its navigation, it must return to the starting tile so humans can rescue and reuse the robot.