Patent ID: 8712679

Claim:
A method of mapping an obstacle within an environment, comprising the steps of: transmitting wirelessly a plurality of signals from a first robot to a second robot at randomly chosen distances and angles relative to an origin, wherein the first robot and the second robot each include an adaptive directional narrow-beam antenna and do not attempt to have a specific coordinated pattern of movement; receiving the plurality of signals by the second robot to obtain received signals, wherein portions of the received signals are attenuated by one or more properties of the obstacle; measuring by the second robot the plurality of received signals to obtain wireless measurements; and constructing a binary map of pixel values by the second robot from the wireless measurements, wherein the one or more properties of the obstacle is represented by a non-zero pixel value and the absence of the one or more properties of the obstacle is represented by a zero pixel value, the binary map of pixel values representing a map of the environment including the obstacle.