
6.3 Limitations
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different "homes" for different classes of objects. Cans would
go to a bin, whereas anything else went to a trash barrel. Other
objects might just be collected onboard the robot and not require
any relocation. For instance, the robot might drop infrared
beacons at regular intervals and occasionally need to recycle
some of the previously deployed units. Some objects might not
have a fixed "home" at all, but require the robot to locally search
for an appropriate location. For instance, if the robot found a
blackboard eraser on the floor it would look around for the
nearest chalk tray to return it to. This multiplicity of activitie ...