Patent Document ID: 9717387
Application ID: 14632842
Patent Flag: 1

Claim One:
1. A robotic apparatus comprising: a processor apparatus; a memory apparatus; a sensor apparatus; and a non-transitory computer-readable apparatus, the non-transitory computer-readable apparatus comprising a storage medium having a plurality of instructions embodied thereon, the plurality of instructions being configured to, when executed by the processor apparatus, cause the robotic apparatus to: operate the robotic apparatus to produce, via the sensor apparatus, a map that correlates to an interior of a user premises; store the produced map in the memory apparatus; based on the map, identify a plurality of waypoint locations characterized by waypoint coordinates on the map; navigate along a first trajectory comprising the plurality of waypoint locations; navigate along a second trajectory, the navigation along the second trajectory being associated with user-guided coordinates distinct from the waypoint coordinates; and receive a set of training commands from a user during the navigation along the second trajectory; wherein the set of training commands causes the robotic apparatus to record the plurality of user-guided coordinates associated with the second trajectory, the recorded plurality of user-guided coordinates configured to enable the robotic apparatus to subsequently navigate along the second trajectory in an absence of the set of training commands.