Our goal is to program the Anki Cozmo robot to navigate its environment and return to a designated "home location" regardless of its initial starting direction. We will achieve this by employing Sliding Window localization, a technique that utilizes sensor data and a recent history of robot movements to estimate its current position within a map it builds of its surroundings. After being rotated in any direction, the robot will leverage this information to determine its current location and utilize an internal process to navigate back to its designated home position.