Tom lives alone in north Aurora in a single family home. He is off on this Tuesday and decides to go grocery shopping. Tom is gone about 1 1/2 hours and returns home. As he comes in through the back door carrying his groceries, he notices that the back door has been kicked in. He immediately hears noises coming from the bedroom areas and goes to investigate. At this time, two males confront Tom, one of them points a handgun at him and tells him to get into the living room and sit down. Tom does so fearing he might get shot. He sees that they have a pillow case full of personal items taken from his bedroom. While seated, one of the men also demands Tom's personal jewelry. Tom hands over the jewelry as demanded. As a warning, the men tell Tom to stay seated and not to follow them. They leave through the back door. Tom immediately calls the police to report the crime.

What crime(s) were committed? Explain fully by addressing the elements of the crime(s) and why the offenders would be so charged.