set of LEGO^^ MINDSTORMS^^ NXT robots each having a Colour Sensor (CS), an Ultrasonic Sensor (US) and a Light Sensor (LS) as shown in Fig. \[fig:robot\]. The US mounted in front of the robot aids in obstacle detection while the CS facilitates identifying the colour of an object encountered by the robot. The two LSs are fixed parallel to the two motors in order to detect the light from both directions. The range of values from the ultrasonic, colour and light sensors vary from 0 to 200, 0 to 9 and 0 to 100, respectively. High values from the US denote that the obstacle is far from the robot while low values indicate the presence of the obstacle. High values from the LS show that the robot is near to the light while lower values specify that the robot is far away from the light source. For CS, the default value is calibrated to 7. The high and low values were decided based on the size of the arena. For instance, if the size of the area is more than the detectable range of the US, then the a value near the maximum 200 will correspond to the high values. 