$RGGI's guidance system uses sensors to create and update a map of LilBuddy's surroundings, while simultaneously keeping track of the vehicle's location within that map. LilBuddy then utilizes virtual waypoints to direct its movement. The robot performs its own path planning, always selecting the shortest distance to its destination, and detecting obstacles in its way. LilBuddy will offer two LiDAR sensor options for 2D and 3D mapping, depending on the customer's needs. Applications requiring vertical sensing would call for a 3D sensor.