Following the integration and test runs that our group conducted today (http://www.youtube.com/watch?v=t1eQQthAIcE&feature=player_embedded), I brought the robot home and fixed some bugs in the circuit and the code. In my final test run, the robot was able to detect all 7 garbage bins, identify their colours, and store their locations. Some pictures of the final UI were taken and have been uploaded into the photos section.
Our robot failed to turn due to the loose gears and the back wheels with high friction. Next step: tighten the gear connection and make the robot turn!