US Patent 10077984 Indoor positioning system training

In an approach for collecting data, a computer identifies a virtual map of an environment. The computer determines a location associated with one or more autonomous devices within the identified virtual map. The computer provides to a first autonomous device of the one or more autonomous devices, navigation instructions from a determined location associated with the first autonomous device to a first training point. The computer collects training data associated with the first training point through the first autonomous device.