A robotic system comprising: a control center; a service robot configured to communicate with the control center; a supervisory robot configured to communicate with the control center; wherein the service robot is configured to move in an environment and further configured to perform a service task in the environment by modifying a surface of the environment; wherein the supervisory robot is configured to acquire information representing a state of the environment at a determined location; and wherein the system is configured to, based on the information representing the state of the environment at the determined location, determine a demand; and wherein the system is further configured such that, for a confirmed demand, the control center communicates a command to the service robot to perform the service task at the determined location; and wherein the supervisory robot comprises a sensor unit to acquire the information representing the state of the environment, and a location determination circuit configured to provide the determined location; and wherein the sensor unit is configured to compare data of the sensor unit with reference data; and wherein the supervisory robot is configured to use an image taken of the surface at the determined location, and a reference image taken at the same determined location when the floor was clean, to calculate a differential image, thus, the information representing the state of the environment at the determined location is the differential image; or wherein the supervisory robot is configured to use uses a reflectivity measured of the surface taken at the determined location, and a reference reflectivity measured at the same determined location when the floor was clean, to calculate a relative contrast, thus, the information representing the state of the environment at the determined location is the relative contrast. a control center; a service robot configured to communicate with the control center; a supervisory robot configured to communicate with the control center; wherein the service robot is configured to move in an environment and further configured to perform a service task in the environment by modifying a surface of the environment; wherein the supervisory robot is configured to acquire information representing a state of the environment at a determined location; and wherein the system is configured to, based on the information representing the state of the environment at the determined location, determine a demand; and wherein the system is further configured such that, for a confirmed demand, the control center communicates a command to the service robot to perform the service task at the determined location; and wherein the supervisory robot comprises a sensor unit to acquire the information representing the state of the environment, and a location determination circuit configured to provide the determined location; and wherein the sensor unit is configured to compare data of the sensor unit with reference data; and wherein the supervisory robot is configured to use an image taken of the surface at the determined location, and a reference image taken at the same determined location when the floor was clean, to calculate a differential image, thus, the information representing the state of the environment at the determined location is the differential image; or wherein the supervisory robot is configured to use uses a reflectivity measured of the surface taken at the determined location, and a reference reflectivity measured at the same determined location when the floor was clean, to calculate a relative contrast, thus, the information representing the state of the environment at the determined location is the relative contrast.