Patent attributes
Provided is a mobile robotic device, including at least: a plurality of sensors; a processor; and a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising: selecting, by the processor, one or more actions to navigate through a workspace, wherein each action transitions the mobile robotic device from a current state to a next state; actuating, by the processor, the mobile robotic device to execute the selected one or more actions; detecting, by the processor, whether a collision is incurred by the mobile robotic device for each action executed; and, assigning, by the processor, each collision to a location within a map of the workspace wherein the location corresponds to where the respective collision occurred.
