  This paper aims to implement Object-Oriented Markov Decision Process
(OO-MDPs) for goal planning and navigation of robot in an indoor environment.
We use the OO-MDP representation of the environment which is a natural way of
modeling the environment based on objects and their interactions. The paper
aims to extend the well known Taxi domain example which has been tested on grid
world environment to robotics domain with larger state-spaces. For the purpose
of this project we have created simulation of the environment and robot in ROS
with Gazebo and Rviz as visualization tools.The mobile robot uses a 2D LIDAR
module to perform SLAM in the unknown environment. The goal of this project is
to be able to make an autonomous agent capable of performing planning and
navigation in an indoor environment to deliver boxes (passengers in Taxi
domain) placed at random locations to a particular location (warehouse). The
approach can be extended to a wide variety of mobile and manipulative robots
