Versatile mobile platform

A wheeled device, comprising:

• a chassis;
• a set of wheels coupled to the chassis;
• one or more electric motors for rotating the set of wheels;
• a plurality of modules for performing work coupled to the chassis;
• a processor electronically coupled to a plurality of sensors, including at least one exteroceptive sensor and at least one proprioceptive sensor;
• and
• a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
• capturing, with the at least one exteroceptive sensor, readings of the environment and capturing, with the at least one proprioceptive sensor, readings indicative of displacement of the wheeled device;
• estimating, with the processor using an ensemble of simulated positions of possible new locations of the wheeled device, the readings of the environment, and the readings indicative of displacement, a corrected position of the wheeled device to replace a last known position of the wheeled device, wherein:
• the processor loses or reduces knowledge of a current position of the wheeled device in relation to a global frame of reference of the environment of the wheeled device due to drift or slippage not reliably recordable by the at least one proprioceptive sensor when the wheeled device moves along a path from the last known position to a new intended position while performing a first task;
• and
• the processor estimates each simulated position by adding the readings captured by the at least one proprioceptive sensor to the last known position and at least one possible variation of error in the readings indicative of displacement of the wheeled device captured with the at least one proprioceptive sensor;
• determining, by the processor using the readings of the exteroceptive sensor, a most feasible position of the wheeled device as the corrected position;
• and
• transmitting, by the processor, status information of one or more tasks performed by the wheeled device to an external processor, wherein the status information initiates a second wheeled device to perform a second task.