Upon finding flame, robot reported x-, y-, and z-coordinates

Returned to start position once flame extinguished

Holonomic drive train allows robot to move in any direction without having to turn

Optical encoders, and the IMU’s accelerometer, gyro, and compass were used to detect current position within maze and drive in a straight path

Line followers and ultrasonic sensors to detect possible cliffs

Absolute potentiometer and servo motor to control position of the fan turret

Two different flame infrared rangefinders to detect flame, height of flame, and distance to flame