Tesla will be a multifunctional robot that will have priority tasks. Unlike other robots that will just "do" things, this robot will have tasks only if certain criteria are met. This means that tesla will be able to mimic life, in the way that we prioritize things. One such example of us prioritizing tasks, is shelter, food, and water. If those 3 things are not met we generally will not do other things.
Tesla on the other hand, will prioritize obstacle avoidance, which means it will always look to avoid obstacles. Tesla will have 8 peripheral sensors on it, in the 8 basic directions: Up, down, left, right, upper left, upper right, lower left, lower right. This gives Tesla a excelent field of view for its environment.
Mapping will be further down the line in tesla. Tesla will also have a Camera mounted with a range finder. Then that entire assembly will be mounted on a servo. the range finder will pan left and right, sending the distances to the Master 4620. The master 4620 will then send the data via RS232 into a computer which will build a 2D map based on the distances. The camera will also take pictures of any feature that is within a close distance.
Entire assembly of camera and range finder