I want to make the Create a navigational robot. It can already navigate pretty well, but it is not very intelligent. I want to add Sharp GP2D120 IR sensors so that the robot can recognize an obstacle before it bumps into it. Then it will turn and look for a clearance before it will move ahead. This means it is very unlikely to get stuck. Currently I'm working on a CMUcam, so that when integrated onto the Create, it can follow a white line around, and might come in handy for other purposes as well. I am also toying with the idea of using GPS navigation as I have the receiver and antenna that was used for another project. If GPS is integrated, the Create will be able to move from one waypoint to the other while avoiding obstacles on its path.