The objective of this research is to build a ground robotic vehicle that can determine complete localization and mapping an unknown environment using LiDAR. Current project accomplishments include increased comprehension and application of the Raspberry Pi and Arduino with the sensors. The research team has found that the robot vehicles in possession do not allow for ideal placement of some of the sensors. It was also determined that an Arduino Mega should be used instead of an Arudino UNO. Future work includes testing the improved robotic vehicle in an unknown area to a pre-specified precision in minimum time.