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Notes

Interview with iRobot Chairman
She mentions how the Roomba's gets back to its base station:

The robot actually knows it is running low on juice and starts looking for its charger. When it sees the infrared lobes that the base station transmits, it gets lined up, then like under control of a tractor beam it heads into the dock and starts a recharging cycle.

This is different that what we thought because it uses an unique infrared beam. that might be a better technology than RFID. Something to look into.