A robot for determining a location within a space, the robot comprising: a casing including an upper surface , an opposite lower surface , and an edge surface extending between the upper surface and the lower surface; at least one deformable sensor provided on the casing, the deformable sensor comprising an internal sensor and a deformable membrane , the internal sensor configured to output a deformation region within the deformable membrane as a result of contact with a first object; one or more processors ; and one or more memory modules comprising a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to: receive data from the internal sensor representing the deformation region of the deformable membrane when the first object is contacted; compare the data associated with contact of the first object to information associated with a plurality of objects stored in a database; identify the first object as a first identified object of the plurality of objects stored in the database, the first identified object is an object of the plurality of objects stored in the database that is most similar to the first object; and characterised in that the one or more processors are also caused to determine a location of the robot based on a location of the first identified object. a casing including an upper surface , an opposite lower surface , and an edge surface extending between the upper surface and the lower surface; at least one deformable sensor provided on the casing, the deformable sensor comprising an internal sensor and a deformable membrane , the internal sensor configured to output a deformation region within the deformable membrane as a result of contact with a first object; one or more processors ; and one or more memory modules comprising a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to: receive data from the internal sensor representing the deformation region of the deformable membrane when the first object is contacted; compare the data associated with contact of the first object to information associated with a plurality of objects stored in a database; identify the first object as a first identified object of the plurality of objects stored in the database, the first identified object is an object of the plurality of objects stored in the database that is most similar to the first object; and characterised in that the one or more processors are also caused to determine a location of the robot based on a location of the first identified object. receive data from the internal sensor representing the deformation region of the deformable membrane when the first object is contacted; compare the data associated with contact of the first object to information associated with a plurality of objects stored in a database; identify the first object as a first identified object of the plurality of objects stored in the database, the first identified object is an object of the plurality of objects stored in the database that is most similar to the first object; and characterised in that the one or more processors are also caused to determine a location of the robot based on a location of the first identified object. <EOS>