A method for creating a data mapping to be used in a subsequent inventorying process to locate objects (110 1... 100 N) within an area, comprising: identifying, by a robot, at least one first marker disposed within the area which should be re-programed, autonomously transforming, by the robot, a first programmed state of the at least one first marker to a second programmed state; and autonomously creating, by the robot, the data mapping specifying a current physical location of the at least one first marker which was re-programed and current physical locations of second markers also disposed within the area; wherein the robot generates reference data for use during an inventorying process to determine the location of items within a given area of interest, wherein the reference data comprises a map or mapping of the locations of markers distributed throughout the given area of interest; wherein the robot generates the map or mapping by: (a) autonomously placing markers of various types within the given area of interest, (b) autonomously configuring or reconfiguring the markers; and (c) storing first information indicating the locations of the markers in the given area of interest, wherein the first information is used to generate a multidimensional map showing the respective locations of the markers within the given area of interest; wherein the inventorying process is implemented in an inventorying system comprising a retail store facility, RSF; wherein the robot autonomously places cameras at locations within the RSF during a pre-inventorying process, wherein the cameras are configured to capture images and/or videos of scenes within their field of view, FOV; wherein beacons are located at locations within the RSF, wherein the beacons are positioned so that beams are emitted toward locations where items are stored, wherein the coverage of a beacon is the zone of interest, ZOI, in which a beacon receiver is able to receive and decode beacon signals, wherein each ZOI contains the objects to be inventoried and located; wherein the cameras are positioned and/or configured so that they cover the same or similar ZOI as the beacons; wherein the robot autonomously performs an adjustment of the cameras FOV and/or the beacons beams during a pre-inventorying process and/or an inventorying process, wherein the FOV is adjusted to only cover a ZOI and wherein a beam emitted from a beacon is adjusted to match or substantially match the camera's FOV. identifying, by a robot, at least one first marker disposed within the area which should be re-programed, autonomously transforming, by the robot, a first programmed state of the at least one first marker to a second programmed state; and autonomously creating, by the robot, the data mapping specifying a current physical location of the at least one first marker which was re-programed and current physical locations of second markers also disposed within the area; wherein the robot generates reference data for use during an inventorying process to determine the location of items within a given area of interest, wherein the reference data comprises a map or mapping of the locations of markers distributed throughout the given area of interest; wherein the robot generates the map or mapping by: (a) autonomously placing markers of various types within the given area of interest, (b) autonomously configuring or reconfiguring the markers; and (c) storing first information indicating the locations of the markers in the given area of interest, wherein the first information is used to generate a multidimensional map showing the respective locations of the markers within the given area of interest; wherein the inventorying process is implemented in an inventorying system comprising a retail store facility, RSF; wherein the robot autonomously places cameras at locations within the RSF during a pre-inventorying process, wherein the cameras are configured to capture images and/or videos of scenes within their field of view, FOV; wherein beacons are located at locations within the RSF, wherein the beacons are positioned so that beams are emitted toward locations where items are stored, wherein the coverage of a beacon is the zone of interest, ZOI, in which a beacon receiver is able to receive and decode beacon signals, wherein each ZOI contains the objects to be inventoried and located; wherein the cameras are positioned and/or configured so that they cover the same or similar ZOI as the beacons; wherein the robot autonomously performs an adjustment of the cameras FOV and/or the beacons beams during a pre-inventorying process and/or an inventorying process, wherein the FOV is adjusted to only cover a ZOI and wherein a beam emitted from a beacon is adjusted to match or substantially match the camera's FOV.