Automatic mapping of dynamic office environments

We present a robot, InductoBeast, that greets a new office building by lear ning the floorplan automatically, with minimal human intervention and a pri ori knowledge. Our robot architecture is unique because it combines aspects of both abductive and inductive mapping methods to solve this problem. We present experimental results spanning three ofiice environments, mapped and navigated during normal business hours. We hope these results help to esta blish a performance benchmark against which robust and adaptive mapping rob ots of the future may be measured.