## 1 Introduction  
[PERSON] et al. define Human-Building Interaction (HBI) as the dynamic interplay between humans and intelligence within built environments. In HBI, intelligent systems integrated in both residential and commercial settings assist building occupants with infrastructure upkeep and help to ensure safe habitability [1]. Recent advancements in sensors, computer chips, Internet of Things (IoT) devices, robotics, and artificial intelligence have opened new opportunities for the development of advanced HBI systems. This is apparent in the FDN's (New York City Fire Department's) plans to use Boston Dynamics' Spot(r) Dog-Bot in firefighting [2], Amazon's introduction of the Astro household robot, and the global sale of 1.4 million Ring Video Doorbells [3]. Smart home devices, in particular, have taken off in popularity as they present several use cases such as optimizing energy management, assisting in the health monitoring of the elderly, and serving as central sensor hubs to notify absent homeowners of anomalous events [4]. In fact, there are approximately 14.7 billion Machine-to-Machine (M2M) devices, a subset of IoT devices. A total of 48 percent of these are used for connected home applications [5]. Despite the wide-scale adoption of home maintenance technology, indoor infrastructure problems persist. Rising levels of urbanization, urban-specific evolutionary pressures [6], and alterations in climate patterns due to global warming are expected to cause rodent populations to surge [7]. These trends are particularly problematic given the health risks that rodents present, both within and outside of proximity to humans [8]. Another concern is air quality. A total of 26.6 billion cubic feet of methane gas leaks were reported to the government between 2010 and October 2021, with several incidences transpiring in domestic residences [9]. Mold remediation costs homeowners an average of USD 2254 per incident [10]. In 2020, household air contamination resulting from the partial combustion of kerosene and solid fuel used in cooking was responsible for an estimated 3.2 million deaths globally [11]. In the context of home plumbing, 90 gallons of water are wasted daily in houses with leaking problems [12]. The homeowner's ability to effectively maintain a house depends on timely and accurate information, based on which they can promptly implement repairs, upkeep, and pest eradication. Aging populations, rising material costs, and reduced availability of the maintenance workforce place additional pressure on the homeowner to seek help through modern technology. The rise of technology-based home maintenance activities follows trends in industry and may be termed Home Maintenance 4.0 [13; 14]. Among the main sub-components of Home Maintenance 4.0 is the integration of IoT protocols to extract information about home structures from sensors. A good example of this is the low-cost, microcontroller-based measurement of the thermal transmittance parameter for building envelopes. Studies have investigated the effects of sensor position on the accuracy of parameter measurement [15; 16]. Furthermore, the utility and application of robots in mapping and assessing hazardous environments have been investigated widely [17]. In 2023, [PERSON] et al. [18] utilized the Gmapping algorithm for SLAM to use with an indoor patrol robot. Another commonly used SLAM algorithm is Hector mapping, which is useful in cases that lack odometry data [19]. Advancements in microrobot technology reduce the challenges of investigating inaccessible areas, which were not possible with conventional robots. Pests, such as small rodents and insects, often hide in tight spaces that new microrobot modules can now access and analyze. [20]. Anyone who lives in an old wood-frame house can attest that many events, including those related to maintenance, have recognizable acoustic signatures. Vibration and acoustic sensors tied to intelligent signal processing are a natural extension of human-based acoustic sensing and cognition [21]. Chennai [PERSON] et al.