# Evaluating the Robot Inclusivity of Buildings Based on Surface Unevenness
## 5 Conclusions  
This paper proposes a novel framework for autonomously evaluating the RIL-SU of a building based on surface unevenness. In this regard, the surface unevenness of the work site for mobile service robots as an operational factor is analysed under the robot inclusivity principles. The proposed framework measures the surface unevenness using an IMU installed on a robot. Excessive vibrations caused by surface unevenness could disrupt the sensing abilities of a robot for proper localization and increase the wear and tear of mechanical components. The surface unevenness is then converted to RIL-SU using a rule-based approach. Finally, the framework can generate RIL-SU heatmaps for a given building environment. The proposed framework was implemented on a robot  
Figure 8: (**a**) A 2D LiDAR map of the connector bridge area and the path taken by the audit robot; (**b**) surface map of connector bridge area; (**c**) RIL-SU colour map of connector bridge area.  
Figure 9: Robot navigation performance in different zones in the connector bridge area during the validation phase. (**a**) Location 7, (**b**) Location 8, and (**c**) Location 9.  
for the autonomous auditing of RIL-SU, and experiments were conducted to validate the compliance of the generated RIL-SU heatmaps. The experimental results show that the RIL-SU heatmaps generated by the proposed framework are acceptable.  
These RIL-SU heatmaps would be useful for informing building owners about the locations of problematic zones for robot deployments or for supporting good human-robot interaction experiences, enabling possible rectification and further evaluations when necessary. These rectifications involve restricting robot operations in low-RIL-SU areas or modifying the building environment to improve RIL-SU in those areas. While certain deviations and defects cannot be avoided in construction, other design-related areas can be easily improved without compromising human comfort. Feasible design modifications to increase robot inclusivity in building environments may include aspects such as material selection for the ground surface, minimizing the need for steps, level changes and inclined surfaces, and creating barrier-free zones demarcated by different surface levels for robot deployments. However, there needs to be a balance between robot performance and its technical/economic limitations, as well as the constraints posed by the building environment.  
Conceptualization: M.R.E., C.S.C.S.B. and M.A.V.J.M.; Data curation: C.S.C.S.B., Z.Z. and M.S.K.Y.; Formal analysis: C.S.C.S.B., M.A.V.J.M., M.B. and Y.W.; Funding acquisition: M.R.E.; Investigation: C.S.C.S.B., Z.Z. and M.S.K.Y.; Methodology: C.S.C.S.B., M.S.K.Y. and M.A.V.J.M.; Project administration: M.R.E.; Resources: M.R.E.; Software: C.S.C.S.B. and Z.Z.; Supervision: [PERSON] and M.A.V.J.M.; Validation: C.S.C.S.B. and Z.Z.; Visualization: M.S.K.Y. and C.S.C.S.B.; Writing--original draft: C.S.C.S.B. and M.S.K.Y.; Writing--review and editing: M.A.V.J.M., M.B. and Y.W. All authors have read and agreed to the published version of the manuscript.  
This research was supported by the National Robotics Programme under its National Robotics Programme (NRP) BAU, Ermine III: Deployable Reconfigurable Robots, Award No. M22 NBK0054, and also supported by A*STAR under its \"RIE2025 IAF-FP Advanced ROS2-native Platform Technologies for Cross-sectorial Robotics Adoption (M21K1a0104)\" programme.  
Not applicable.  
The original contributions presented in the study are included in the article. Further inquiries can be directed to the corresponding author.  
The authors declare no conflicts of interest. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.