Project employs XBee communication between robots to autonomously navigate a 4-way intersection. The robots are programmed through an Arduino sketch (C / C++). The robots use NXShield (mindsensors.com), which allowed the control of LEGO NXT motors / sensors through an Arduino Uno. XBee radios and XBee shields were stacked on NXShield to communicate with Arudino Uno. Other sensors used were: LightSensorArray from Mindsensors.com, LEGO light / ultrasonic sensors, Sharp IR distance sensors and Hall effect sensors from Adafruit.