Two Projects Implemented on Khepera III robot: 1) Braitenberg Avoidance Algorithm: Modified to handle the moving obstacles as well the fixed with a reasonable avoidance factor based on experiments. 2)Search Gripper Algorithm: Searches for a suitable body that can be held with the robot grippers, hold the body, move it to a specific place, uses Ultrasonic, IR, Gripper actuator. Can be used to collect the trash in indoor environements.