Autonomous Litter Collecting Robot with Integrated Detection and Sorting Capabilities

Abstract— This paper presents an autonomous robot that detects and collects litter in real time. The robot is designed for use in resource-limited urban environments in developing countries. Its main purpose is to automate the process of collecting waste and sorting it for recycling. It is made up of a combination of object detection using a raspberry pi camera module, autonomous navigation with ultrasonic sensors to measure the distance from obstacles, a YOLOv11 model to detect litter in real time and a custom robotic arm to collect the litter and sort it. Test results showed a detection accuracy of 87.87 %, with reliable navigation and collection performance. The system provides a practical and easy to scale solution for improving and supporting waste management in urban areas.