Patent ID: 11966227
Assignee: IROBOT CORPORATION
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 12:
13. An autonomous cleaning robot comprising:
a drive system to support the autonomous cleaning robot above a floor surface in an environment, the drive system configured to move the autonomous cleaning robot about the floor surface;
a cleaning assembly to clean the floor surface as the autonomous cleaning robot moves about the floor surface;
a sensor system; and
a controller operably connected to the drive system, the cleaning assembly, and the sensor system, the controller configured to execute instructions to perform operations comprising:
during a first navigation associated with a region of the environment by the autonomous cleaning robot, using the drive system to navigate the autonomous cleaning robot relative to region using one or more first navigational parameters, wherein the region is elevated relative to an adjoining region;
constructing a map of the environment based on mapping data produced by the autonomous cleaning robot during the first navigation, wherein constructing the map comprises providing
a label indicating that the region is elevated relative to the adjoining region, and
in association with the label, data indicative of the one or more first navigational parameters; and

using the drive system to navigate the autonomous cleaning robot through the relative to region using one or more second navigational parameters, wherein the one or more second navigational parameters are based on the label and based on the one or more first navigational parameters used during the first navigation associated with the region by the autonomous cleaning robot.