In order to achieve this task, the robot needed to be able to know which blocks it needed to find, see the blocks it was trying to retrieve using an RBG-D camera, navigate towards the center, pick up the block using its arm, and then navigate back to a collection pile. This could all be achieved using the LoCoBot ws250s from Trossen Robotics, with their on-board sensor stack. Due to integration issues and difficulties, we were only able to integrate this algorithm in simulation. However, we were able to get the above steps into a cohesive find-and-fetch algorithm