The figure shows the structure of RoboCart. A PVC pipe structure which holds the wayfinding toolkit, is mounted on the Pioneer 2DX robotic platform. The wayfinding toolkit consists of the laser range finder, RFID reader and antenna, a Dell Latitude X300 laptop, a Logitech camera, speakers, and a 10-key keypad. The RFID antenna is placed in the front of teh roboitic base, close to the floor. It is used to read RFID tags embedded in a carpet which is placed at strategic locations in the store.