The searching algorithm will be a modification of the standard depth first search. Since the maze can and will contain loops, the searching algorithm will need to know where it is in order to know if it is looping. Thus the maze must be mapped to solve it. Further since the maze will be mapped a shortest path can be calculated via a flooding algorithm. Once this shortest path is known, the robot will return to the start and follow that path to the center thus solving the maze in the quickest time possible.