Two simulated Nomad 150 robots search for objects to collect and return to the homebase (center of the field). In this case, the orange objects must be delivered to a location in front of the orange bin (simulated by a big orange circle). Blue objects must be delivered to the blue bin. There are two types of objects to collect: moving simulated squiggle balls and stationary blue balls. It is very hard to catch the squiggle balls. This is the actual code used by Georgia Tech in the 1997 competition.