This project has a couple necessary scripts, and I will outline them here.
Scan.cs
This script is the main one for this project, a majority of the logic of the Roombas is handled here. Maintaining and updating the list containing all trash items, finding the nearest trash item from that list, picking up and dropping trash items, and sorting the contents of the Roomba's capacity.
trashItem.cs
Basically just a tag to help the Roomba find valid trash items and keep track of whether or not this trash item is already being targeted, to prevent two Roombas attempting to target the same piece of trash.