## 1 Introduction  
Robotic platforms are becoming very popular tools in industry and delivery companies. These systems are reliable and cost effective, and, additionally, movement in narrow aisles can be achieved. The maneuverability of the robotic platforms exceeds the possibilities of standard forklifts [1]. They can be used in smart warehouses, and, in such completely automated areas, aisles are designed for use of the specialized robots only. The robots are connected into a robotic network according to the idea of the Internet of Robotic Things (IoRT) [2]. This provides the possibility of remote data gathering and synchronisation of each individual object to allow autonomous operation. In the ideal world, the construction of smart warehouses (with robotic devices) may be considered as a great solution to reduce the number of employees and wasted space (that can be used for profitable production or other purposes) [3]. Coordinating the work of a smart warehouse in fully autonomous mode requires much computational power. It is crucial to process the control algorithm in real time. That is why the control system must be realized with the idea of embedded computing and the Internet of Things at once. Unfortunately, the operation of such systems may be easily disrupted. Because of narrow aisles, bypassing any obstacles, such as immobilized platforms (e.g., because of discharged batteries or faults) or scattered/unexpected objects (e.g., fallen products), may be impossible. Stopping operations may cause delays in object (that can be a part of larger system) work, which as a result may lead to financial loss. The risk of such undesired maintenance standstill may be reduced with the implementation of robotic platforms that can traverse over the obstacles. These robotic platforms may be considered a part of smart mobility. In fact, they are designed to work without the need for human control, which makes them an interesting solution in many areas of people's lives. Smart transportation may be the answer to many dangerous or damaging jobs. The idea of autonomous robots provides the possibility of building more advanced robot constructions, which may be capable of carrying out more complicated tasks than traditional robots. Inthis case, a solution could be robots with a special suspension design. Because of the similarity to the movement of animals living in nature, the suspensions of these robots are commonly called legs [4]. Legged robots can travel in three-dimensional environments, and are able to step over obstacles, climb over stairs, etc. [5]. However, they are relatively slow in good, flat environments. It can be noted that the fastest legged robot is significantly slower in comparison with wheeled platforms [6]. The best solution, which keeps the advantages of wheeled robots and the abilities of legged platforms, is a combination of their construction features. The resulting wheel-legged robots are a field of research interest in notable research institutes and famous worldwide companies. Robots from ETH Zurich [7] and Boston Dynamic [8] are examples that are very popular. Modern microcontrollers have become powerful devices that are capable of running complex algorithms. There are many devices that come with integrated wireless communication modules such as Wi-Fi, Bluetooth Classic, Bluetooth Low Energy, etc. Their price is comparable to standard industrial microcontrollers, and thus they are widely applied as a control element of electrical machines and appliances [9]. By using these devices, the idea of the Internet of Things (IoT) can be developed. The increasing number of industrial applications is related to modern software tools (for programming), reliability and low costs. They have an influence on industrial hardware, where very often the machinery is connected into networks.