The challenge is to make a robot that collect certain kinds of recyclable waste from a home into recycling waste bins to be picked up by Municipal Service. First, the robot has to identify the kinds of waste that will be picked up next by Municipal Service and the positions of the empty recycling waste bins where the robot should put the requested waste. Afterwards the robot shall bring the correct kinds of waste from the waste areas in the home to the recycling empty waste bins and finally the robot shall move to an area so the robot is ready for the next sorting round.